US Patent 10953553 Gripping hand

This gripping hand has a base member and a number of fingers arranged about an axis line passing through the base member, wherein each of the fingers has a flexible finger part having flexibility and a finger base member for supporting the basal end side of the flexible finger part, the gripping hand is provided with a number of link mechanisms that are supported by the base member and that support the respective number of finger base members, and each of the link mechanisms allows the finger base member supported thereby to move relative to the base member such that the orientation of the finger base member supported thereby does not substantially change relative to the base member.