Robotic hand sensitive to forces in an aquatic environment

A device forming a robotic hand, comprising:

• a base forming a hand palm;
• at least two articulated structures each forming a robotic finger, each articulated structure being functionally connected to the base and comprising at least one articulation, so as to move said articulated structure with respect to the base;
• at least one drive mechanism for moving each articulation;
• at least one actuator arranged to actuate the at least one drive mechanism by means of at least one flexible drive link connecting and driving the at least one drive mechanism;
• means for measuring the pivoting of the at least one actuator and one or more of said articulations, said means being used to determine the elongation of the at least one flexible drive link;
• and
• a glove covering the base and the at least two articulated structures, the glove being closed so as to form, inside said glove, a volume filled with oil between the wall of the glove and the base and the at least two articulated structures.