Human symbiotic robots are required to support daily activities of aging societies. However, deficient sensing ability on the current robot hands makes it difficult to perform grasping actions and efficiently accomplish manipulation tasks. Therefore, sufficient data and higher sensing ability are required for operating robot hands. In this research, a new robot finger mechanism is developed. This mechanism has the center of rotation located about the edge of the soft skin. The finger is actuated with an arrangement of a slider, linear motor, and a link mechanism. Hereby, robot finger can attach flexible skin and sensor continuously. Also, sensing ability comparison of other robot finger and the new finger with proposed mechanism is evaluated. As a result, the ability of proposed finger mechanism is confirmed.