Robot hand having connetion part transforming according to shape of object and control method of robot hand

The invention elastic deformation the connection relates to a robot hand and a robot hand control method having a connecting portion to be, and provides the available contact surface pressure contact with the movable object (10), which is in contact with the movable object 10 in accordance with the object shape (100a ) the elastic deformation of the variable connection device (100 as a possible structure); Name to an open loop state connecting portion (100a) is continuously on or divided into a number of positions of the mobile object 10 to be detached from the closed loop condition, or the moving object 10 to be press-contacting of the variable access switching to a motor 201, connected length adjustment in association with the drive unit, such as a pump for the elastic deformation the shape of the connecting portion (100a) of the variable-access apparatus 200; And the variable connection device 100 is the form-retaining device for maintaining constant the shape of the variable access point 100 in a pressure-connected closed loop state by setting pressure to the movable object (10); objects that are configured to include a move the robot hand having to be elastic deformation the connection according to the shape of a technical aspect, holding the goods, such as of the various operations that the human hand carried, wrapped grip (enveloping), placing (hooking), sweep (sweeping) ( reliable work to pick move &), and relates to a new strain robot hand and robot hand control method having a connection portion that is in accordance with the object shape with a possible implementation of a stable structure. The robot hand, grip wrap, dialing, the open-loop and closed-loop