Sony patents robot hand with flexible fingers for precise gripping

1. A robot hand, comprising: a wrist section; a palm section including a proximal joint and a central axis; a first finger that extends from the palm section to a distal side of the robot hand, wherein the first finger includes a first finger pad surface opposite to the central axis of the palm section, an angle between the first finger pad surface and a target object is adjustable by an operation of the wrist section, the first finger is configured to revolve about a specific axis with respect to the palm section, and the specific axis is coincident with the central axis of the palm section; and a second finger that extends from the palm section to the distal side of the robot hand, wherein the second finger includes: a second finger pad surface opposite to the first finger pad surface; a base phalanx section; a distal phalanx section: a middle phalanx section: a middle joint; and a distal joint, the central axis of the palm section is between the first finger pad surface and the second finger pad surface, the proximal joint is configured to pivotably couple the second finger to the palm section about a first axis, the first axis is with respect to the palm section, the first finger lacks degrees of freedom in a bending direction and a stretching direction, the base phalanx section is adjacent to the palm section, a distance between the distal phalanx section and the distal side of the robot hand is less than a distance between the base phalanx section and the distal side of the robot hand, the middle phalanx section is between the base phalanx section and the distal phalanx section, the middle joint is configured to couple the middle phalanx section to the base phalanx section bendably and strechably about a second axis, the distal joint is configured to couple the distal phalanx section to the middle phalanx section bendably and strechably about a third axis, and each of the second axis and the third axis is with respect to the palm section.