Fully Actuated – Truly Free to Move
The XHAND1 is an advanced five-fingered robotic hand that combines exceptional freedom of movement, high performance, and intelligent control.
It features 12 fully active degrees of freedom – 3 in the thumb and index finger and 2 in each of the remaining fingers.
The laterally movable index finger allows for rotational movements, such as opening bottle caps, while the thumb can be positioned similarly to the pinky finger to enhance grip stability.
This design gives the XHAND1 the ability to perform complex manipulations and delicate, precise operations with remarkable dexterity.
Full Control of Every Finger
Unlike conventional underactuated systems, the XHAND1 uses a fully actuated gear-based quasi-direct drive system.
All joints are locally decoupled, providing true freedom of movement — ideal for developing advanced AI algorithms such as imitation learning or reinforcement learning.
Thanks to its back-drivable joints, the hand can absorb mechanical shocks or impacts without damage, making it robust and durable.
The high back-drivability and low damping also allow for direct current-loop force control, offering deep compatibility for research and experimental development.
Precise Perception Through Touch
Each finger of the XHAND1 is equipped with a high-resolution tactile sensor array containing over 100 measurement points.
The fingertips feature 120–300 precision sensor points, providing three-dimensional force and temperature data with a resolution of up to 0.05 N.
This enables the hand to detect subtle touches, sense sliding movements, and even perceive surface textures of contacted objects.
In addition, integrated temperature sensors measure the heat of contacted materials, providing a more realistic and refined tactile feedback experience.
Powerful Grip, Compact Design
With a grip force of up to 80 N and a payload capacity of 25 kg, the XHAND1 demonstrates impressive strength.
Its proprietary joint module design allows for compact integration of all components without compromising agility.
Optimized magnetic circuit topology and precise motor structures ensure maximum performance and efficiency:
- >5 kg load capacity per finger
- >20 kg load capacity using four fingers
- >24 kg total load capacity when using the entire hand
Technical data
Basic information
- Weight: 1100g
- Dimensions (LxWxT): 191mm x 94mm x 47mm
- Active DOF: 12
- DOF Allocation: 3x Thumb | 3x index finger | 2x middle finger | 2x ring finger |2x Little finger
- Thumb actuation/transmission: 3 gear-driven force-controlled Joint module
- Four-finger actuation/transmission: 9 gear-driven force-controled Joint module
- Fingertip configuration: round or rounded fingertips
- Lateral swing: -15°~+15° (index)
- Fingertip repeat positionning accuracy: +/-0,2mm
- Control Modes: Position Control (low damping/high damping mode), current-loop force Control, force-position control
Load capacity
- Fingertip force: 15N
- Max. grip strength (whole Hand): 80N
- Max. grasp weight (Palm left): 16kg
- Max. grasp weight (Palm up): 25kg
Dynamic Performance
- Thumb farthest Opposition: Little pinky
- Open/close Repetition Speed: > 2Hz
- Back-drive damping (backdrivable): </= 0,1Nm
Sensing configuration
- Tactile Coverage: 270° Five-finger fingertip encirclement
- Number of tactile sensors: Five 270° 3D encircling tactile Array sensors on Five fingertips
- Tactile Resolution (whole Hand): 12x10 (270° encircling per fingertip) x5
- Tactile sensing dimensions: 3D force sensing (incl.tangential Forces X and Y)
Software functions
- Whole-Hand Control frequency: 83Hz
- Communication rate: 100MHz EtherCAT | 3MHz RS485
- Packet size (Bytes): Transmitter: 2988-4869 Bytes | Teceiver: 288 bytes
- Sensing Parameters: Fingertips: 120 3D 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
- Max. current: 2,5A @48V, 120W
- Communication Interface: RS485 (USB), EtherCAT
