PURPOSE:To make a hand part lightweight by connecting a wire driving means to one end of a wire wound a pulley interlocking with a mechanism for opening and closing a holding means, fixing one end of an elastic member the other end of which is connected to the other end of the wire, and providing a wire movement detecting means on the elastic member side relative to the pulley of the wire. CONSTITUTION:When a wire 31 wound round a pulley 30 is wound up by driving a motor 34, a cam 16 is retracted to the right. By the retraction of the cam, a gap distance between cam followers 14 is enlarged, and a pair of claws 10 perform a gripping operation. When these claws 10 firmly grip an object 18, the cam 16 becomes impossible to retract further. Next, when the motor 34 is operated to wind up the wire 11, the wire 31 acts to pull downward a lever 48 against a spring 36 force, and a depressed button of a limit switch 50 is released to detect a grasp performed by the pair of claws 10.
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