Method for driving hand, and hand

A hand comprising:

• a first finger part and a second finger part pinching a target object therebetween;
• a drive unit driving at least one of the first finger part and the second finger part and thus controlling a relative position of the first finger part and the second finger part;
• a position detection unit detecting the relative position of the first finger part and the second finger part;
• a storage unit storing the relative position detected by the position detection unit;
• and
• a drive control unit controlling driving of the drive unit, wherein
• the position detection unit detects the relative position of the first finger part and the second finger part as of when the first finger part and the second finger part pinch the target object therebetween, as a reference relative position,
• the storage unit stores the reference relative position, and
• the drive control unit moves the relative position of the first finger part and the second finger part to a target relative position where the first finger part and the second finger part are spaced further apart from each other than at the reference relative position by an amplitude of vibration or more, by the drive unit, on accepting an instruction to release the target object pinched by the first finger part and the second finger part, and the drive control unit causes at least one of the first finger part and the second finger part to vibrate by the drive unit, when the target relative position is achieved.