To provide a robot hand, having little backlash and play and controlling the position and force of the fingertips with high accuracy.

This robot hand includes a palm; a metacarpal and a base joint, wherein a carpometacarpal joint is provided in a joint part between the palm and the metacarpal, and a metacarpal finger gnarl joint is provided in a joint part between the metacarpal and the base joint. In the robot hand, the carpometacarpal joint shaft and the metacarpal finger gnarl joint shaft intersect perpendicularly to each other at one point, the palm is provided with a first actuator and a first driving mechanism for driving the carpometacarpal joint, and the base joint is provided with a second actuator and a second driving mechanism for driving the metacarpal finger gnarl joint. The first driving mechanism is so constructed that after the output of the first actuator is decelerated by a first decelerating device having a high-speed decelerating means, the output of the first decelerating device is transmitted to the metacarpal through a link mechanism, thereby driving the carpometacarpal joint. The second driving mechanism is so constructed that after the output of the second actuator is decelerated by a second decelerating device having a high-speed decelerating means, the outut of the second decelerating device is connected to the metacarpal to drive the metacarpal finger gnarl joint.

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