Two degree of freedom to accommodate the secondary joint (12) and the articulated link (17) connecting the big joint (11) of the EMG, and to leave the central teokbu (17-2) Type different thickness, the thickest part teokbu ( 17-2) 2 free to hwimhom (17-5) that the warpage in the adjacencies of installing the strain gauge (17-6) to recognize the warpage has hwimhom opposite surface provides a gripping receiving sensors and EMG; 2 DOF accommodating an electrode plate formed at the end joint of the thumb receiving EMG groove (11-1); Electrode plate accommodating the three-way electrode part 11-2 is placed in the groove (11-1) having a third direction electrodes for the three-way recognition; 32 and having a free push button 11-3 is fitted in the direction of the electrode portions 11-2 electrode plate receiving recess (11-1) can ever pressing by selecting the electrode of Fig provides accommodate sliding of the EMG sensor .; And a slip controller (13-21), which takes the value recognition of the slip sensors (S2) to determine the holding power increased or decreased provide increased or decreased by adding the fine value (Vs2) to a reference value (Vr), the recognition value (Vs1) of the grip sensor (S1) received power controller (13-22) for providing an output (Vs2) value (Vrs) a value (Vc1) value (Vc2) applied to the received acceleration and added to the slip controller (13-21) to a reference value (Vr), and a pulse pokbyeon action (PWM) value (Vc2) varies the power grip two degree of freedom consisting of the servo motor 13 is also accommodated in the EMG holding force and the sliding control device receives the power control (13-22). Grip sensor, slip sensor, the sensing control unit