Robotera XHAND1 - Lite Elfin Hand (XHAND1-Lite)

XHAND1 - Lite is an Elfin Hand with high-dynamic speed, rapid motion, back-drive fault tolerant with high success rate, human-hand size, sleek and slender design, back-drive impact-resistant with high reliability. Weight: 650 g; Dimensions (L×W×T): 180 mm x 80 mm x 40 mm (The Size of an Adults Hand); Passive DoF (Total): 5; Active DoF (Total): 6; DoF Allocation: Thumb ×3 (+1), Index Finger ×1 (+1), Middle Finger ×1 (+1), Ring Finger ×1 (+1), Little Finger ×1 (+1); Fingertip Configuration: Round or Rounded Fingertips; Thumb Transmission: Linkage and 2 Micro Force-Controlled Composite Joints per Finger; Four-Finger Transmission: Linkage and Single Micro Force-Controlled Composite Joint per Finger; Fingertip Repeat Positioning Accuracy: ±0.20 mm; Control Modes: Position Control (Low Damping/High Damping Mode), Current-Loop Force Control; Fingertip Load: 10 N; Minimum Grasp Diameter: 20 mm; Open/Close Repetition Speed: >2 Hz; Damping (Backdrivable): ≤0.1 Nm; Maximum Thumb Opposition: Little Finger; Communication Rate: EtherCAT: 100 Mbps, RS485: 3 Mbps; Communication Interface: EtherCAT / RS485(USB) / CAN; No-Load Grasp Cycles: 1,000,000 Cycles. (XHAND1-Lite)