ROBOTERA XHAND 1 Robot Hand - 12 DoF, 270° tactile fingertips, 80N grip, 25 Kg lift, EtherCAT/RS485, ROS-ready

Overview

ROBOTERA XHAND 1 is a five-finger Robot Hand with full direct-drive joint modules and 12 active DoF. The hand is human-hand-sized (191 mm x 94 mm x 47 mm) and designed for dexterous manipulation with high-resolution tactile sensing, robust grip strength, and developer-friendly interfaces for robotics research and integration.

Key Features

• Full direct-drive architecture with integrated gear-driven, force-controlled joint modules (3 in the thumb; 9 across the other four fingers).
• 12 fully active DoF; index finger lateral swing of +/-15° for complex in-hand manipulation.
• High grip performance: fingertip force 15N; maximum grip strength 80N; maximum grasp weight up to 25 Kg (palm up) and 16 Kg (palm left).
• High-speed actuation supporting >2Hz open/close repetition; demonstrated finger clicking up to 10 CPS (Clicks Per Second).
• 270° fingertip tactile coverage with five three-dimensional tactile array sensors; whole-hand resolution 12x10 per fingertip x 5.
• Three-dimensional force sensing including tangential forces (X and Y); fingertip repeat positioning accuracy +/-0.20 mm.
• Back-drivable with damping <= 0.1 Nm; current-loop force control and force-position control for compliant interaction.
• Developer-friendly connectivity: EtherCAT and RS485 (USB); compatible with ROS1/ROS2, Ubuntu (Linux), x86 and ARM architectures, TwinCAT, and common robotic arms (including xARM, Realman, UR).
• Durability rated for 1,000,000 no-load grasp cycles; operating temperature -20°C ~ 60°C.

For inquiries, integration support, or bulk purchasing, contact support@rcdrone.top or visit https://rcdrone.top/.

Specifications

Parameter	Value
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)	12
Passive DOF (Total)	0
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), current-loop force control, force-position control
Fingertip Force	15N
Maximum Grip Strength (whole hand)	80N
Maximum Grasp Weight (palm left)	16 Kg
Maximum Grasp Weight (palm up)	25 Kg
Thumb Farthest Opposition	Little Pinky
Open/close Repetition Speed	>2Hz
Back-drive Damping (Backdrivable)	<= 0.1 Nm
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)
Whole-hand Control Frequency	83Hz
Communication Rate	EtherCAT: 100MHz; RS485: 3MHz
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
No-load Grasp Cycles	1,000,000 cycles
Operating Temperature Range	-20°C ~ 60°C
Working Voltage	24V ~ 72V
Static Current	0.15A @48V, 7W
Maximum Current	2.5A @48V, 120W
Communication Interface	RS485 (USB), EtherCAT

Applications

• Teleoperation: supports MR and glove teleoperation; Vision Pro teleoperation; Manus Gloves; Pico/Meta Quest.
• Robotic arm and humanoid integration: compatible with xARM, Realman, UR, and other robotic arms.
• Research and simulation: precise URDF, tactile sensing simulation; suitable for reinforcement learning with Isaac Gym and Mujoco.
• Human-machine interaction and operation of human tools with compliant force control.

Manuals

Xhand_adapter.stp
MH2.25_right_stp.zip
MH2.25_left_stp.zip
XHand_Control_ROS_Documentation.pdf
X-Hand_1_Product_Manual_1.0.pdf
X-Hand_1_User_Quick_Start_Instructions_1.0.pdf

Details

ROBOTERA XHAND1 robotic hand with full direct drive, offering true freedom and advanced dexterity.

XHAND1 by ROBOTERA: humanoid five-finger hand with 12 degrees of freedom, 270° tactile sensors per fingertip, 80N grip force, 25kg load capacity. Designed for complex tasks and tool handling.

XHAND 1: First dexterous hand with direct-drive modules per joint. Features high-power cordless motors, low-damping reducers, precision encoders, and self-developed integrated joint modules for advanced robotic manipulation.

ROBOTERA XHAND 1 is an ultra-flexible, human-sized robotic hand with 12 active DoF. Its index finger swings ±15° sideways for complex tasks, and the thumb offers six opposable positions for versatile manipulation.

ROBOTERA XHAND 1: 25kg load, 80N grip strength, full direct drive, surpasses similar linkage/tendon-driven solutions.

Full Direct Drive robot hand achieves 10 CPS with gear-driven speed, torque over 1 Nm, outperforming linkage and tendon systems for superior gaming performance.

ROBOTERA XHAND 1 has 270° fingertip sensors with >100 points and 0.05 N accuracy for 3D force, tactile, and temperature sensing, ensuring superior grip performance.

ROBOTERA XHAND 1 offers biomimetic force control, linear torque-current response for AI training, and back-drive fault tolerance—enabling precise handling, simplified algorithms, drag-and-teach support, and improved strategy generalization.

Full Direct Drive robot hand offers durability with no elastic parts or screws, impact buffering when powered on, drop resistance when off, and a lifespan exceeding one million cycles—outperforming similar products per client feedback.

ROBOTERA XHAND 1 supports MR and glove teleoperation, compatible with ROS1/ROS2 and Ubuntu on x64/ARM. Features EtherCAT/TwinCAT/RS485 for integration with xARM, Realman, UR robotic arms. Offers precise URDF modeling and tactile sensing simulation. Designed for developer-friendly robotics applications with cross-platform flexibility and advanced control protocols.

Reinforcement learning applications: Issac gym, Mujoco, and fully-actuated hand with tactile sensing simulation for advanced robotic control and training environments.

Teleoperation full solution featuring Vision Pro, Manus Gloves, Pico/Meta Quest, robotic arm, and humanoid robot for advanced remote control.

Human-sized robot hand with aesthetic design, operates tools, enables compliant interaction, supports EtherCAT for real-time control.