A robot system includes a robot, an attraction pad, a sensor, and a controller. The robot includes a hand whose orientation is changeable. The attraction pad is attached to the hand, attracts a workpiece, and holds the workpiece. The sensor is attached to the hand, includes a detection surface, and detects contact between the detection surface and the workpiece. The controller can determine whether the workpiece has been brought into surface contact with the detection surface based on a result of detection made by the sensor and changes the orientation of the hand, until the workpiece makes surface contact with the detection surface, and then makes the attraction pad hold the workpiece.

In a tactile sensing system, a sensor portion of a tactile sensor is provided at a grasping portion of a robot, and outputs plural signals respectively corresponding to plural first electrodes that face a second electrode. On the basis of all or some of the plural signals, an output section calculates respective pressure values of plural pressure detecting positions within a contacting surface of the sensor portion which contacting surface contacts a workpiece, and outputs data of a pressure distribution. Further, on the basis of all or some of the plural signals, the output section calculates one aggregate shearing force value for the entire contacting surface, and outputs data of the aggregate shearing force value.

A robot hand is provided. The robot hand includes a first and second drive gears rotated by first actuator and second actuators; a first interlocked gear interlocked with the second drive gear to rotate in opposite directions; a second interlocked gear interlocked with the first drive gear to rotate in opposite directions; a first inner link engaged with rotation of the first drive gear; a first outer link engaged with rotation of the first interlocked gear; a first end link connected to the first inner link and the first outer link opposite the first actuator; a second inner link engaged with rotation of the second interlocked gear; a second outer link engaged with rotation of the second drive gear; and a second end link connected to the second inner link and the second outer link opposite the second actuator.