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Wuji Hand

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The WUJI Hand is a 20-DoF independent robotic hand designed for high-dexterity humanoid manipulation.

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MYBOTSHOP GmbH is a specialized supplier of professional robotics and automation components, providing high-quality hardware, expert support, and reliable solutions for research, education, and industrial development.

WUJI Hand

The WUJI Hand by WUJI TECH is a human-sized, high-dexterity robotic hand built for real-world manipulation.
With 20 active DoF (4 per finger), self-locking direct-drive micro-joints, and 1 kHz control across 20 axes,
it combines fine, uncoupled finger motion with practical strength (up to 10 kg static grasp and 15 N fingertip force).

Full Hardware Specs
Official Video
Documentation
Reference Listing
Dexterity20 DoF • 5 fingers • serial kinematics
Weight580 ± 10 g (without cable)
Strength15 N fingertip • 10 kg static grasp
Control1000 Hz × 20 axes • USB / EtherCAT

 

Key benefits

  • Independent finger control: 4 DoF per finger enables fine, uncoupled motion for dexterous grasps.
  • Direct-drive performance: self-locking rotary micro-joints with FOC vector control for fast response.
  • Built for integration: high-rate control loop plus USB or EtherCAT options for robotics stacks.
  • Practical load handling: strong static grasping and pinch capability for real objects and tools.

Technical Hardware Specifications

Structure & kinematics

Fingers 5
Active degrees of freedom (DoF) 20 (4 DoF per finger)
Finger configuration Full opposable, supports lateral swing
Kinematic configuration Serial direct-drive rotary joints (no nonlinear kinematics)
Maximum grip diameter 100 mm
Finger length (four fingers) ~157 mm (single finger full length)
Thumb module length ~130 mm (single finger full length)

Dimensions & weight

Weight (without cable) 580 ± 10 g
Dimensions 201 mm × 75 mm × 50 mm

Actuation & control

Drive method Self-locking rotary direct-drive joints
Control algorithm FOC vector control drive
Control frequency 1000 Hz × 20 axes
Communication interface (Version 1) USB (USB Type-C data)
Communication interface (Version 2) EtherCAT

Load performance

Fingertip force 15 N
Single finger max load (hook grip) 3 kg
Full-hand max static grasp load 10 kg
Full-hand max static pinch load 5 kg
Max hanging weight 5 kg

Dynamic performance

Minimum open-close time ≈ 0.3 s
Repetitive open-close speed ≥ 2 times/s
Thumb flexion / lateral swing speed ≥ 100 rpm
Four-finger flexion speed ≈ 0.25 s

Accuracy & lifespan

Repeatability accuracy ± 1 mm
No-load grip lifespan ≥ 300,000 times

Electrical performance

Operating voltage 12–20 V DC (standard: 12 V 20 A adapter)
Static current 1 A
Maximum current 35 A
No-load motion average current 2 A
External power connector XT30 (external power supply)

Integration tip: Use the official documentation for wiring, pin definitions, status LEDs, firmware/OTA tools, and SDK workflows.

Typical applications

  • Humanoid robots and plug-in end-effectors
  • Dexterous manipulation research (teleop, imitation learning, RL)
  • Tool use and contact-rich tasks that need both dexterity and robustness