Your browser does not support the video tag. Your browser does not support the video tag. Technical Specifications Parameter Value Weight 1100 g Dimensions (L x W x T) 191 mm x 94 mm x 47 mm（The size of an adult’s hand） Active DoF (Total) 12 Passive DOF (Total) 0 DoF Allocation Thumb x 3 Index Finger x 3 Middle Finger x 2 Ring Finger x 2 Little Finger x 2 Thumb Actuation/Transmission 3 gear-driven force-controlled joint module Four-finger Actuation/Transmission 9 gear-driven force-controlled joint module Fingertip configuration Round or Rounded Fingertips Lateral Swing -15°~+15°（Index） Fingertip Repeat Positioning Accuracy ±0.20 mm Control Modes Position control (low damping/high damping mode), current-loop force control, force-position control Fingertip Force 15N Maximum Grip Strength (whole hand) 80N Maximum Grasp Weight (palm left) 16 Kg Maximum Grasp Weight (palm up) 25 Kg Thumb Farthest Opposition Little Pinky Open/close Repetition Speed >2Hz Back-drive Damping（Backdrivable） ≤0.1 Nm 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) Whole-hand Control Frequency 83Hz Communication Rate EtherCAT：100MHzRS485：3MHz Sensing Parameters Fingertips: 120 three-dimensional profiling array forcesJoints: position, velocity, temperature, current (torque) Control Parameters Joint position, joint torque, joint stiffness coefficient, joint damping coefficient No-load Grasp Cycles 1,000,000 cycles Operating Temperature Range -20°C ~ 60°C Working Voltage 24V ~ 72V Static Current 0.15A @48V, 7W Maximum Current 2.5A@48V,120W Communication Interface RS485(USB), EtherCAT Xhand_adapter.stpMH2.25_right_stp.zipMH2.25_left_stp.zipXHand_Control_ROS_Documentation.pdfX-Hand_1_Product_Manual_1.0.pdfX-Hand_1_User_Quick_Start_Instructions_1.0.pdf
