Robot hand and manipulator

A manipulator, comprising:

• an operation arm;
• and
• a robot hand, wherein
• the operation arm includes a base end and a terminal end,
• the operation arm extends in an axial direction from the base end to the terminal end,
• the robot hand is coupled to the terminal end of the operation arm, and
• the robot hand comprises:
• 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 opposed to the first finger pad surface of the first finger;
• 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.