Patent attributes
A robot hand module includes a thumb module and a finger module each coupled to a palm part, wherein the thumb module or the finger module includes a phalangeal part movably coupled to the palm part and a cable part and a driving part each connected to the phalangeal part, wherein the driving part includes a driving part body extending in one direction and including a rotary shaft configured to rotate by receiving power, a drum member coupled to one side of the driving part body, connected to the rotary shaft, and having an outer periphery surrounded by the cable part, and a tensioner member spaced apart from the drum member in a direction in which the cable part extends outward, wherein the tensioner member is movable in the direction in which the cable part extends to adjust tension of the cable part.