Hand control apparatus and hand control system

A hand control apparatus that controls a hand which is provided at a robot including a camera, wherein the hand grips an object using a plurality of fingers each including a force sensor and a tactile sensor, wherein the hand control apparatus is configured to:

• extract a grip pattern of the object having a shape closest to a shape of the object acquired by the camera from a storage unit which stores shapes of a plurality of types of the objects and the grip patterns by the hand in association with each other;
• calculate a gripping position with respect to the object and posture of the hand in accordance with the grip pattern thus extracted;
• cause the hand to grip the object on a basis of the gripping position and the posture which are thus calculated;
• determine whether or not a gripped state of the object is appropriate on a basis of information acquired by at least one of the force sensor and the tactile sensor;
• and
• correct at least one of the gripping position and the posture which are thus calculated when it is determined that the gripped state of the object is inappropriate,
• wherein, in the storage unit, the shapes of the plurality of types of the objects and elastic moduli are stored and associated with the grip patterns by the hand, and
• wherein the hand control apparatus causes the hand to grip the object with gripping force in accordance with an elastic modulus of the object.