PURPOSE: To provide a robotic grasping apparatus with properties approximate to human, which can be controlled with ease so as to be able to take up and grasp small and thin articles as well as large articles.

CONSTITUTION: A grasping apparatus is provided with a base 4, a fixed index finger 70 and a thumb 8 with two-degree of maneuverable freedom, and the tip 64 of the thumb 8 can move vertically and horizontally to the index finger 70, making it possible to hold an article between the index finger 70 and thumb 8. In addition, the grasping apparatus is provided with a movable finger 100, in which an approximate end section 104 is pivotally attached to the base 4, and the terminal section 108 of the movable finger 100 can horizontally move to and separate from the index finger 7, making it possible to hold an article between the movable finger 100 and the index finger 70. Thanks to the two- degree of maneuverable freedom of the thumb 8 and one-degree of freedom of the movable finger 100, articles of various different shapes can be grasped and held.