Collaborations in humanoid robotics between research and industry.
The XHAND1 is a 12-DoF dexterous robotic hand with tactile sensing.
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.
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.
| 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) |
| 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 |
| 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 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) |
| 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 |
| 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.
