To provide a finger mechanism which can perform fine work, and a human-type hand which is incorporated with the finger mechanism.SOLUTION: When a thumb mechanism 2 and an index finger mechanism 3 perform close operations, a fourth bone member 44 of the thumb mechanism 2 and a fourth bone member 14 of the index finger mechanism 3 slightly contact with each other. In this case, since base end parts of the thumb mechanism 2 and the index finger mechanism 3 are displaced to a horizontal direction, portions equivalent to finger tips are cantilevered as shown in Fig. 8. When surfaces of the fourth bone members of the thumb mechanism 2 and the index finger mechanism 3 are coated with members having elasticity such as, for example, urethane, the surfaces are slightly collapsed, and therefore, do not point-contact with each other, but a contact area becomes small.SELECTED DRAWING: Figure 8【課題】 繊細な作業が可能な指機構とこの指機構を組み込んだ人間型ハンドを提供する。【解決手段】 拇指機構２と示指機構３が閉じ動作を行うと、拇指機構２の第４骨部材４４と示指機構３の第４骨部材１４とが軽く接触する。この場合、拇指機構２と示指機構３の基端部は水平方向にずれているため、図８に示すように指先に相当する部分同士は片当たりする。拇指機構２と示指機構３の第４骨部材の表面には例えばウレタンなど弾性を有する部材で被覆している場合には、若干潰れるため、点接触とはならないが接触面積は小さい。【選択図】 図８
