Robotera

xHand1

ROBOTER X-HAND Grippers

Basic Info

Category	Specifications
Weight	1100g
Dimensions (L × W × T)	191 mm × 94 mm × 47 mm (adult hand size)
Active DOF (Total)	12
Passive DOF (Total)	0
DOF Allocation	Thumb × 3, Index × 3, Middle × 2, Ring × 2, Little × 2
Thumb Transmission	3 gear-driven force-controlled joint module
Four-finger Transmission	9 gear-driven force-controlled joint module
Fingertip Configuration	Round or Rounded
Lateral Swing (Index)	-15° ~ +15°
Fingertip Repeat Accuracy	±0.20 mm
Control Modes	Position control (low/high damping), current-loop force control, force-position

Load Capacity

Category	Specifications
Fingertip Force	15 N
Max Grip Strength	80 N
Max Grasp Weight (Palm Left)	16 Kg
Max Grasp Weight (Palm Up)	25 Kg

Dynamic Performance

Category	Specifications
Thumb Opposition	Farthest to Little Finger
Open/Close Speed	>2 Hz
Back-drive Damping	≤0.1 Nm

Sensing Configuration

Category	Specifications
Tactile Coverage	270° five-finger fingertip encirclement
Tactile Sensors	5 × 270° 3D encircling tactile array sensors
Tactile Resolution	12×10 per fingertip × 5
Sensing Dimensions	3D force sensing (including tangential X & Y)

Software Functions

Category	Specifications
Control Frequency	83 Hz
Communication Rate	EtherCAT: 100 MHz, RS485: 3 MHz
Packet Size	Transmit: 2088–4896 bytes, Receive: 288 bytes

Sensing Parameters

Category	Specifications
Fingertips	120 3D profiling array forces
Joints	Position, velocity, temperature, current (torque)
Control Parameters	Joint position, torque, stiffness coefficient, damping coefficient

Reliability

Category	Specifications
No-load Grasp Cycles	1,000,000 cycles
Operating Temp Range	-20°C ~ 60°C

Electrical Parameters

Category	Specifications
Working Voltage	24V ~ 72V
Static Current	0.15A @ 48V (7W)
Max Current	2.5A @ 48V (120W)
Communication Interface	RS485 (USB), EtherCAT