Weight
1000g
1000g
Dimensions
217.3mm x 127.5mm x 72.1mm
(The actual version shipped will be adjusted)
217.3mm x 127.5mm x 72.1mm
(The actual version shipped will be adjusted)
16 active degrees of freedom
Thumbs x 4
Index fingers x 3
Middle fingers x 3
Ring fingers x 3
Little fingers x 3
Thumbs x 4
Index fingers x 3
Middle fingers x 3
Ring fingers x 3
Little fingers x 3
Transmission mechanism
12 self-developed micro force-controlled composite transmission joints
(can realize tactile proprioception of robots)
4 micro force-controlled joint gear transmission
12 self-developed micro force-controlled composite transmission joints
(can realize tactile proprioception of robots)
4 micro force-controlled joint gear transmission
Joint angles
Thumb joint:
Thumb joint 0: -33.5°~39°
Thumb joint 1: 0°~100°
Thumb joint 2: 0~110°
Thumb joint 3: 0~92°
Four finger joints:
Finger joint 0: -22°~22°
Finger joint 1: 0°~90°
Finger joint 2: 0°~95°
Finger joint 3: 0°~81° (coupled with finger joint 2)
Thumb joint:
Thumb joint 0: -33.5°~39°
Thumb joint 1: 0°~1 00°
Thumb joint 2: 0~110°
Thumb joint 3: 0~92°
Four finger joints:
Knuckle 0: -22°~22°
Knuckle 1: 0°~90°
Knuckle 2: 0°~95°
Knuckle 3: 0°~81° (coupled with knuckle 2)
Four finger side swing
±22°
±22°
Minimum grip diameter
10mm
10mm
Finger Tip repeat positioning accuracy
±1mm
±1mm
Fingertip force
10N
10N
Operating voltage
24V~60V
24V~60V
Quiescent current
58V@0.2A
58V@0.2A
Maximum current
58V@3A
58V@3A
Communication interface
USB2.0
USB2.0
Operating temperature range
-20℃ ~ 60℃
-20℃ ~ 60℃
Load condition (palm facing down at normal temperature, grasping a 5cm round hard object)
Maximum weight is 3.5kg
Maximum weight is 3.5kg
Load condition (palm facing left at normal temperature, grasping a 5cm round hard object)
Maximum weight is 4.5kg
Maximum weight is 4.5kg
Perception parameters
Number of array sensors
/
12 (94 pressure sensors in total)
Array resolution
/
2 x 5 (palm)
2 x 3 (single finger pulp) x 5
2 x 3 (single finger tip) x 5
2 x 3 (single finger root) x 4
Perception range
/
10g-2500g
Maximum receiving force (no damage)
/
20kg
Software function
Communication rate
1000Hz
1000Hz
Number of bytes in a whole packet
Transmitter: 1234 bytes
Receiver: 1270 bytes
Transmitter: 1234 bytes
Receiver: 1270 bytes
Perception feedback
Joint mode, joint position, joint speed, joint torque, joint temperature, voltage and current, imu data
Joint mode, joint position, joint speed, joint torque, joint temperature, voltage and current, sensor pressure value, sensor temperature value, imu data
Control feedback
Joint mode, joint position, joint speed, joint torque, joint stiffness coefficient, joint damping coefficient
Joint mode, joint position, joint speed, joint torque, joint stiffness coefficient, joint damping coefficient
