The invention provides a five-degree-of-freedom artificial hand mechanism, relates to an artificial hand mechanism and aims to solve the problems that the conventional artificial hand has single degree of freedom and cannot realize independent movement of each finger. Five drivers, five reducers and a palm circuit board are all integrated in a cavity of a palm; a thumb driver and a thumb reducer are arranged along a width direction of the palm, the four drivers except the thumb driver and the four reducers except the thumb reducer are arranged along a length direction of the palm, and a wrist and the palm are rotatably connected relatively; each driver is in transmission connection with the corresponding reducer, and the reducer is in transmission connection with a corresponding transmission mechanism; and a rotating part of each potentiometer is connected with the corresponding transmission mechanism, and the transmission mechanism is supported on a corresponding substrate. The five-degree-of-freedom artificial hand mechanism has five degree-of-freedom, and improves the flexibility of the artificial hand; and due to the simple and reliable transmission, relative motion of each finger is realized, and adaptive grasping of objects of different shapes and sizes is also realized.