Robotera XHAND1

Specifications

XHAND1 / Width

9.4 cm (Hand placed flat)

XHAND1 / Length

19.1 cm (Hand placed flat)

XHAND1 / Weight

1.1 kg

XHAND1 / Fingers

5 pcs

XHAND1 / Thickness

4.7 cm (Hand placed flat)

XHAND1 / Thumb DOF

3 DoF

XHAND1 / Interfaces

EtherCAT /RS485 USB

XHAND1 / URDF model

Tactile simulation

XHAND1 / Passive DoF

0 DoF

XHAND1 / Joint module

Reducer / motor / driver / encoder

XHAND1 / Motor torque

>1 N·m

XHAND1 / Control modes

Position (low/high damping) / current-loop force / force-position

XHAND1 / Teleoperation

Vision Pro / Manus / Pico / Meta Quest (Through compatible control equipment and integration)

XHAND1 / Active degrees

12 DoF

XHAND1 / Drag-and-teach

Supported

XHAND1 / Backdrivability

Supported

XHAND1 / Fingertip force

15 N (Maximum)

XHAND1 / Maximum payload

25 kg (Palm facing up)

XHAND1 / Ring-finger DOF

2 DoF

XHAND1 / Thumb actuation

3 gear-driven force-controlled joint modules

XHAND1 / Index-finger DOF

3 DoF

XHAND1 / Little-finger DOF

2 DoF

XHAND1 / Middle-finger DOF

2 DoF

XHAND1 / Tactile equipment

3D tactile arrays on all fingertips (Tactile-equipped configuration of the extended brochure)

XHAND1 / Back-drive damping

≤0.1 N·m

XHAND1 / Fingertip coverage

270 °

XHAND1 / Temperature sensing

Supported (Tactile-equipped configuration)

XHAND1 / No-load grasp cycles

1000000 cycles (No load)

XHAND1 / Simulation platforms

Isaac Gym / MuJoCo

XHAND1 / Compatible robot arms

xArm / Realman / UR

XHAND1 / Four-finger actuation

9 gear-driven force-controlled joint modules

XHAND1 / Open-close repetition

>2 Hz

XHAND1 / Single-finger payload

5 kg

XHAND1 / Whole-hand grip force

80 N

XHAND1 / Software compatibility

TwinCAT / ROS1 / ROS2 / Ubuntu / x64 / ARM

XHAND1 / Fingertip configuration

Round / rounded

XHAND1 / Fingertip repeatability

±0.20 mm (Under load)

XHAND1 / RS485 communication rate

3 MHz

XHAND1 / Tactile array resolution

12 ×10 ×5 (12×10 per each of 5 fingertips; 270° coverage)

XHAND1 / Thumb farthest opposition

Little finger

XHAND1 / Index-finger lateral swing

−15...+15 °

XHAND1 / Tactile sensing dimensions

3D force including tangential X/Y

XHAND1 / EtherCAT communication rate

100 MHz

XHAND1 / Stated tactile-force accuracy

0.05 N (Tactile-equipped configuration)

XHAND1: earlier official two-page brochure / Tactile sensors

Optional equipment

XHAND1: earlier official two-page brochure / Development tools

Linux SDK / ROS-compatible applications / PC evaluation app

XHAND1: earlier official two-page brochure / Thumb movement angle

<110 °

XHAND1: earlier official two-page brochure / Minimum grasp diameter

16 mm

XHAND1: earlier official two-page brochure / Dimensions in source order

190.36 ×94 ×47 mm