XHand1

The XHand1 is a dexterous robotic hand.

Price on request

The XHAND1 is a 12-DoF dexterous robotic hand with tactile sensing.

XHAND1

The ROBOTERA XHAND1 is a five-finger, 12-DoF independent robotic hand engineered for
dexterous manipulation, humanoid robots, and AI research. It combines
force-capable actuation with 270° encircling 3D tactile sensing on the fingertips and supports
EtherCAT and RS485 communication for robotics integration.

Full Hardware Specs
Manufacturer Video
Official Product Page

Dexterity12 active DoF • 5 fingers

Tactile270° encircling 3D tactile arrays

Strength15 N fingertip • 80 N whole-hand

IntegrationEtherCAT + RS485 (USB)

Key benefits

Human-like dexterity: 12 independently actuated DoF, including index lateral swing for twisting actions.
Tactile-first manipulation: 270° fingertip coverage with 3D force sensing (incl. tangential forces).
Multiple control modes: position control, current-loop force control, and force-position control.
Research-ready software: Linux compatibility, SDK (C++/Python) and ROS support.

Technical Hardware Specifications

Basic information

Fingers	5
Active DoF (Total)	12
Passive DoF (Total)	0
DoF allocation	Thumb ×3; Index ×3; Middle ×2; Ring ×2; Little ×2
Weight	1100 g
Dimensions (L × W × T)	191 mm × 94 mm × 47 mm
Fingertip configuration	Round or rounded fingertips
Lateral swing	-15° to +15° (index)

Actuation & control

Thumb actuation/transmission	3 gear-driven force-controlled joint modules
Four-finger actuation/transmission	9 gear-driven force-controlled joint modules
Control modes	Position control (low/high damping), current-loop force control, force-position control
Whole-hand control frequency	83 Hz
Back-drive damping (backdrivable)	≤ 0.1 Nm

Load capacity & performance

Fingertip force	15 N
Maximum grip strength (whole hand)	80 N
Maximum grasp weight (palm left)	16 kg
Maximum grasp weight (palm up)	25 kg
Open/close repetition speed	> 2 Hz
Thumb farthest opposition	Little pinky
Minimum grip diameter	16 mm
No-load grasp cycles	1,000,000 cycles
Operating temperature range	-20°C to 60°C

Tactile sensing

Tactile coverage	270° encircling per fingertip, across five fingertips
Number of tactile sensors	Five 270° three-dimensional encircling tactile array sensors (one per fingertip)
Tactile resolution (whole hand)	12 × 10 (270° encircling per fingertip) × 5
Tactile sensing dimensions	3D force sensing (including tangential forces X and Y)
Sensing parameters	Fingertips: 120 three-dimensional profiling array forces; Joints: position, velocity, temperature, current (torque)

Electrical & communication

Working voltage	24 V to 72 V
Static current	0.15 A @ 48 V (7 W)
Maximum current	2.5 A @ 48 V (120 W)
Communication interface	RS485 (USB), EtherCAT
Communication rate	EtherCAT: 100 MHz; RS485: 3 MHz
Packet size	Transmitter: 2088–4896 bytes; Receiver: 288 bytes

Software ecosystem

OS support	Linux compatible
SDK	SDK compatible (C++, Python)
ROS	Robot Operating System support
Teleoperation	Vision Pro teleoperation + glove/vision-compatible retargeting functions
Windows tools	Standard Windows evaluation applications for debugging and embedded development

Note: Specifications above reflect published manufacturer parameters and may vary by revision/configuration.
Always confirm the final configuration (left/right, tactile option, interface) during procurement.

Typical applications

Dexterous manipulation research (imitation learning, RL, tactile learning)
Humanoid robot end-effectors for tool use and assembly tasks
Teleoperation and dataset collection with tactile feedback

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At this time, no European supplier for this product is known. If you are interested in this product or are aware of a suitable supplier, please contact us.

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