The Robotera XHAND1 is a state-of-the-art five-fingered robotic hand designed to emulate human-like dexterity with exceptional precision and strength. Developed by Robotera, a leader in advanced robotics, the XHAND1 is engineered for applications requiring intricate manipulation and tactile feedback.
Boasting 12 fully actuated degrees of freedom, high-resolution tactile sensors, and a robust grip strength of up to 80N, the XHAND1 is ideal for applications in robotics research, AI development, and industrial automation.
Five-finger full drive
Compared with some under-driven solutions on the market, XHAND1 adopts full gear Quasi-Direct Drive transmission, the active joints are all in the local position and all decoupled, which provides ‘real freedom’ for the development of AI algorithms such as imitation learning, reinforcement learning, etc.; at the same time, each joint can be back-driven, which can avoid the risk of being broken or damaged by accidental impact, and has a stronger impact resistance. The high back driving transparency and low damping of the joints can support us to use the current loop directly for force control, which can provide professional researchers with in-depth compatibility.
High-Resolution Tactile Sensors
The RobotEra XHAND1 is equipped with a high-resolution (>100 points) tactile array sensor on each finger, providing precise three-dimensional force tactile and temperature information.
XHAND1 five fingertips are equipped with an array of high-precision high-resolution tactile sensors, each fingertip collects 120-300 uniformly distributed three-dimensional force information, the minimum resolution of 0.05N, which can support the robot to do a more accurate force control, and at the same time, have more perception capabilities such as contact sensing, sliding sensing, and through the surface of the array of force can be obtained by the resolution of the surface texture of the surface of the contact surface and so on more information; each haptic sensor has 20 distributed on the distribution of force and temperature information; each haptic sensor has 20 distributed on the surface of the contact surface texture. Each haptic sensor has 20 distributed temperature arrays, which can sense the temperature of the contacting objects.
Powerful Grip - One-handed grip up to 80N and 25Kg load
XHAND1 adopts a fully self-developed integrated joint module. Based on the the XHAND1's human-like size, we have compacted all the components of the joint module. We have developed a compact design for each component of the joint module. We have also made great efforts to design the magnetic circuit topology and structure of the underlying motors. The maximum load of XHAND1 can be over 5Kg for one finger, and over 20Kg for four fingers. XHAND1 can lift more than 5Kg with one finger, more than 20Kg with four fingers, and more than 24Kg dumbbells with the whole hand.
Key Features and Specifications
12 Degrees of Freedom: Each finger is equipped with independent actuators, providing a total of 12 degrees of freedom. The thumb and index fingers each have 3 degrees, while the middle, ring, and little fingers each have 2 degrees. This configuration allows for complex movements such as lateral finger swings and thumb-pinky opposition, enhancing the hand's versatility.
High-Resolution Tactile Feedback: Each fingertip is embedded with a high-resolution tactile array sensor, offering over 100 points of 3D force and temperature sensing. This enables the XHAND1 to detect subtle variations in texture, pressure, and temperature, facilitating delicate tasks like object handling and surface inspection.
Impressive Load Capacity: Despite its compact size, the XHAND1 demonstrates remarkable strength. It can achieve a maximum grip force of 80N and lift weights up to 25 kg, making it suitable for both light and heavy-duty applications.
Advanced Control and Compatibility: The XHAND1 supports various control modes, including position control, current-loop force control, and force-position control. It is compatible with Linux, C++, Python, and ROS, and offers integration with teleoperation systems like Vision Pro, enhancing its adaptability for research and industrial use.
Applications
The XHAND1's advanced capabilities make it ideal for:
Robotics Research and Development: Its precise control and tactile feedback are invaluable for developing and testing robotic algorithms and systems.
Industrial Automation: The hand's strength and dexterity enable it to perform tasks such as assembly, packaging, and quality inspection.
Assistive Technologies: Its human-like movements can be utilized in prosthetics and rehabilitation devices, offering improved functionality for users.
The Robotera XHAND1 sets a new standard in robotic dexterity, combining strength, precision, and adaptability. Its advanced features make it a valuable tool for a wide range of applications, from research and development to industrial automation.
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
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
