Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
Robotera Dexterous Hand XHAND1 (Right)
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Robotera Dexterous Hand XHAND1 (Right)

ROBOTERASKU: RB-Era-02
Manufacturer #: XHAND1-2R32
Price  :
$16,750.00

Price includes Tariffs (in USA).  Shipping calculated at checkout.

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* Delays depend on the order frequency from each supplier and the approximate arrival date is indicated in the due date. Returns are not accepted on On Demand and Clearance Items except when they are found defective, in which case the product may be repaired or replaced at RobotShop's discretion.

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Description

  • Robotera Dexterous Hand XHAND1 (Right)
  • 12 active degrees of freedom with independently actuated joints
  • 270-degree (10x12x5) fingertip tactile sensors detecting 3D force and temperature, with a simulated plug-in
  • Compatible with most mainstream robotic arms & humanoid robots, e.g. Unitree H1
  • Designed for reinforcement learning and teleoperation

The Robotera Dexterous Hand XHAND1 (Right) is a highly advanced, five-fingered robotic hand designed for exceptional performance and intelligent operation. It features 12 fully active degrees of freedom, with anatomical distribution (3 for thumb and index, 2 for others), enhancing its dexterity for complex and delicate tasks. This includes a laterally moving index finger for twisting actions and a thumb capable of a "pinky position" for improved grip stability. Unlike under-actuated alternatives, the XHAND1 utilizes a full-gear Quasi-Direct Drive transmission with decoupled, locally positioned active joints.

This design offers true freedom for advanced AI algorithm development, including imitation and reinforcement learning, and ensures back-drivability for enhanced impact resistance. The high back-driving transparency and low damping also enable direct current-loop force control, providing versatile options for researchers.

Each finger of the XHAND1 is equipped with high-resolution tactile array sensors, delivering precise three-dimensional force and temperature information. With a minimum resolution of 0.05N, these sensors enable highly accurate robotic force control and advanced perceptual capabilities such as contact sensing, sliding detection, and surface texture analysis.

The XHAND1 incorporates a fully self-developed, integrated joint module. Despite its human-like dimensions, meticulous compaction of all joint module components and optimized motor designs contribute to its robust capabilities. This allows it to achieve impressive load capacities, capable of lifting over 5kg with a single finger, more than 20kg with four fingers, and over 24kg with the entire hand.

  • 1x Robotera Dexterous Hand XHAND1 (Right)
  • 191 x 94 x 47 mm (L x W x T)

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Basic Info

  • Weight: 1100 g
  • Active Degrees of Freedom (Total): 12
  • Passive Degrees of Freedom (Total): 0
  • DoF Allocation
    • Thumb: 3
    • Index Finger: 3
    • Middle Finger: 2
    • Ring Finger: 2
    • Little Finger: 2
  • Thumb Actuation/Transmission: 3 gear-driven, force-controlled joint modules
  • Four-finger Actuation/Transmission: 9 gear-driven, force-controlled joint modules
  • Fingertip Configuration: Round or Rounded Fingertips
  • Lateral Swing (Index Finger): -15° to +15°
  • 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 down): 16 kg
  • Maximum Grasp Weight (palm up): 25 kg

Dynamic Performance

  • Thumb Farthest Opposition: Little Pinky
  • Open/Close Repetition Speed: >2 Hz
  • Back-drive Damping (Backdrivable): ≤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: 83 Hz
  • Communication Rate
    • EtherCAT: 100 MHz
    • RS485: 3 MHz
  • 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 to 72V
  • Static Current: 0.15A @ 48V (7W)
  • Maximum Current: 2.5A @ 48V (120W)
  • Communication Interface: RS485 (USB), EtherCAT

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WARNING: This product can expose you to chemicals including lead and lead compounds, which are known to the State of California to cause cancer and birth defects or other reproductive harm. For more information go to: www.P65Warnings.ca.gov.

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