humanoid robot that can be suitably employed to provide and five terrain hand device . Base 4 and the five fingers of the hand mechanism installing body 2 having a ( 5-9 ), and the installation drive means (3) for driving the finger mechanism, and control means for controlling the gulsin finger mechanism ( 36 ) is installed . Drive means (3) is a hand body (2) and the driven fluid pressure cylinder of the inner and outer drive fluid pressure cylinder of the hand body 2, 37 is made is connected to the fluid pressure transmission pipe (45) .
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