Robotera XHAND1 Dexterous Hand (XHAND1)

XHAND1 is a five-fingered robotic dexterous hand with high degrees of freedom, high performance, and high intelligence. It features 12 fully active degrees of freedom, with 3 for the thumb and index finger, and 2 for each of the remaining fingers. The index finger has lateral movement (±15°) for twisting movements like bottle caps, and the thumb can adopt a pinky position for enhanced grip stability. It uses a full gear Quasi-Direct Drive transmission with all active joints locally positioned and decoupled, supporting AI algorithms like imitation learning and reinforcement learning. Each joint is back-drivable, offering impact resistance and low damping for force control. It is equipped with high-resolution tactile sensors on each fingertip, providing precise three-dimensional force and temperature information. XHAND1 can achieve a one-handed grip up to 80N and lift loads up to 25Kg, with a human-like size and compact design. Degrees of Freedom (DOF): 12 active DOF, 0 passive DOF; DOF Allocation: Thumb x 3, Index Finger x 3, Middle Finger x 2, Ring Finger x 2, Little Finger x 2; Weight: 1100 g; Dimensions (L x W x T): 191 mm x 94 mm x 47 mm (size of an adult’s hand); Thumb Actuation/Transmission: 3 gear-driven force-controlled joint module; Four-Finger Actuation/Transmission: 9 gear-driven force-controlled joint module; Lateral Swing: -15° to +15° (Index Finger); Fingertip Repeat Positioning Accuracy: ±0.20 mm; Control Modes: Position control (low damping/high damping mode), current-loop force control, force-position control; Load Capacity: Fingertip Force: 15 N, Maximum Grip Strength (whole hand): 80 N, Maximum Grasp Weight (palm up): 25 Kg, Maximum Grasp Weight (palm left): 16 Kg; Dynamic Performance: Thumb Farthest Opposition: Little Pinky, Open/Close Repetition Speed: >2Hz, Back-drive Damping: ≤0.1 Nm; Sensing Configuration: Tactile Coverage: 270° five-finger fingertip encirclement, Number of Tactile Sensors: Five 270° three-dimensional encircling tactile array sensors on five fingertips, Tactile Resolution (whole hand): 12x10 (270° encircling per fingertip) x 5, Tactile Sensing Dimensions: Three-dimensional force sensing (including tangential forces X and Y); Software Functions: Whole-hand Control Frequency: 83Hz, Communication Rate: EtherCAT: 100MHz, RS485: 3MHz, Packet Size: Transmitter: 2088–4896 bytes, Receiver: 288 bytes; Sensing Parameters: Fingertips: 120 three-dimensional profiling array forces; Joints: position, velocity, temperature, current (torque); Control Parameters: Joint position, joint torque, joint stiffness coefficient, joint damping coefficient; Reliability: No-load Grasp Cycles: 1,000,000 cycles; Operating Temperature Range: -20°C to 60°C; Electrical Parameters: Working Voltage: 24V ~ 72V, Static Current: 0.15A @48V, 7W, Maximum Current: 2.5A @48V, 120W, Communication Interface: RS485(USB), EtherCAT; Equipped with high-resolution (>100 points) tactile array sensors on each finger for precise three-dimensional force and temperature information; Supports Linux, SDK compatible with C++ and Python, and ROS (Robot Operating System); Provides Vision Pro teleoperation application, glove- and vision-compatible retargeting functions for operational testing and data collection; Includes standard Windows platform evaluation applications for customer debugging and embedded system development. (XHAND1)