ROBOTERA

Fully Actuated, Truly Free

XHAND1 is a five-fingered robotic dexterous hand with high degrees of freedom, high performance, and high intelligence.It has 12 fully active degrees of freedom, 3 for the thumb and index finger, and 2 for each of the remaining fingers. The index finger has lateral movement, which can be used for twisting movements for bottle caps; the thumb can be used for a pinky position to enhance the stability of the grip. Giving the dexterous hand more possibilities to perform complex tasks and delicate operations.

Independent Degrees of Freedom

2个

Each finger has 2 independent degrees of freedom

±15°

Index Finger Lateral Movement

Enables dexterous hands to perform more complex tasks and delicate operations

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.

Fully self-developed integrated joint module

High power density
Coreless motor

Low damping and small gap
Reducer

High power density actuator
High power density actuator

High-Resolution Tactile Sensors

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.

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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.

* The data is derived from Starlight Labs test results, which are based on Starlight XHAND1 grip and load capacity tests.

Actual data may vary due to use of environmental conditions, and different test settings.

What we can do

Enhanced learning

Increased independent degrees of freedom

Increase control precision

Fully open underlying controls for high playability

Reduce Sim2Real

Tactile sensing

Imitation learning

Control learning

Supports current loop force control, low damping, and high linearity.

Force Control with Haptic Sensor Feedback

Software Support

Linux

Linux compatible

SDK

SDK compatible C++、Python

ROS

Robot Operating System

Remote Teleoperation

Provides Vision Pro teleoperation application, as well as glove- and vision-compatible retargetingl functions for customer operational testing and data collection.

Embedded System Development

Equipped with standard Windows platform evaluation applications to support customer debugging and embedded system development.

Product Parameters

XHAND1

Basic Info

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)

Passive DOF (Total)

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

Load Capacity

Fingertip Force

15 N

Maximum Grip Strength (whole hand)

80 N

Maximum Grasp Weight (palm left)

16 Kg

Maximum Grasp Weight (palm up)

25 Kg

Dynamic Performance

Thumb Farthest Opposition

Little Pinky

Open/close Repetition Speed

>2Hz

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

83Hz

Communication Rate

EtherCAT：100MHz RS485：3MHz

Packet Size (bytes)

Transmitter: 2088–4896 bytes Teceiver: 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 ~ 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

【1】The data is measured when the dexterous hand is placed flat. 【2】 The data is measured under load.

Basic Info

Weight

1100g

Dimensions (L x W x T)

191±1（mm）

94±1（mm）

47±1（mm）

Active DoF (Total)

Passive DOF (Total)

DoF Allocation

Thumb x 3

Index Finger x 3

Middle Finger x 2

Ring Finger x 2

Little Finger x 2

Thumb Actuation/Transmission

gear-driven force-controlled joint module

Four-finger Actuation/Transmission

gear-driven force-controlled joint module

Angle of Joint

Thumb joints:

Thumb joint 0: 0°90°

Thumb joint 1: -60°90°Thumb joint 2: 0°90°

Four-finger joints:

Four-finger joint 0: 0°110°

Four-finger joint 1: 0°~110°

Lateral Swing

-15~+15（Index）

Minimum grip diameter

16mm

Fingertip Repeat Positioning Accuracy

2mm

Electrical Parameters

Working Voltage

24V-72V

Static Current

0.15A @48V, 7W

Maximum Current

2.5A@48V,120W

Communication interface

RS485(USB), EtherCAT

Load Capacity

Fingertip Force

15N

Maximum grasp weight (palm left, vertical grip on 5cm cylinder)

8Kg

Dynamic Performance

Thumb farthest opposition

Little Pinky

Open/close repetition speed

>2Hz

Back-drive damping

0.1Nm

Sensing Configuration

Tactile coverage

fingertip

Number of tactile sensors

Tactile resolution (whole hand)

120x5 (five fingers)

Tactile sensing dimensions

Three-dimensional (including tangential XY forces)

Software Functions

Whole-hand control frequency

83Hz

Communication rate

Ethercat：100MHz

RS485：3MHz

Packet size (bytes)

Up: 2088~4896 bytes

Down: 288 bytes

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

Control modes

position control (low damping/high damping mode), current-loop force control, force-position control

Reliability

No-load grasp cycles

1,000,000 cycles

Operating temperature range

-20℃ ~ 60℃

[1] 该数据为灵巧手平放状态下尺寸。

[2] 该数据为灵巧手受垂直朝下的直径为1cm的圆柱压迫时所受到的压力，在不同应用场景中有所差异，请以实际为准。

[3] 以上参数，在不同业务场景、不同型号参数配置等情况，在应用中有所差异，请以实际为准。

[4] 产品外观后续可能会有升级调整，请以届时实物为准。

[5] 本产品为民用机器人产品，请各位用户不要危险性改造和使用机器人。

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