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

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

Better force control: Open PD control

Force Control with Haptic Sensor Feedback

Software Support

Linux

Linux compatible

SDK

SDK compatible applications

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.

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Product Parameters

Product Model

XHAND1

Weight

1.1 Kg

Grip strength

15 N(fingertip)80 N(whole hand)

Lateral movement of the index finger

±15°

Minimum Grip Diameter

16 mm

Communication Interface

EtherCATRS485

Active Degree of Freedom

Dimensions

190.36*94*47 mm

Load

5 kg(fingertip)25 kg(whole hand)

Thumb Activity Angle

<110°

Repeat Positioning Accuracy

1 mm

Power supply

DC40~75VMax 3A

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Looking to the future

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