The purpose of the present invention is to provide a hand and joint mechanism having a simple structure and capable of bending a plurality of fingers to different shapes according to the shape of an object to be grasped. Sets of fingers (joint mechanisms) (80A, 80B) are provided, and each finger comprises a mounting member (10), a first finger section (81) rotatably connected to the mounting member (10) by a first connecting part (87), a second finger section (91) rotatably connected by a second connecting part (97) of the first finger section (81), and a first driving unit (111) rotatably connected to a fourth connecting part (115) of the second finger section (91) and connected to a third connecting part (113), said finger being configured so that pushing of the third connecting part (113) toward the fourth connecting part (115) will cause the first finger section (81) and the second finger section (91) to rotate together around the first connecting part (87) or, if rotation of the first finger section (81) is prevented, will cause the second finger section (91) to rotate around the second connecting part (97). The fingers (80A, 80B) are disposed in parallel, and the third connecting parts (113) of both fingers are driven the same distance in the same direction at the same time by way of a single driving mechanism (30).La présente invention a pour objet de fournir un mécanisme d'articulation et de main qui présente une structure simple et permet de plier une pluralité de doigts selon différentes formes selon la forme d'un objet qui doit être saisi. Des séries de doigts (les mécanismes d'articulation) (80A, 80B) sont fournies et chaque doigt comprend un élément de support (10), une première section de doigt (81) raccordée de manière rotative à l'élément de support (10) par une première partie de raccordement (87), une seconde section de doigt (91) raccordée de manière rotative par une deuxième partie de raccordement (97) de la première section de doigt (81) et une
