Body Parameters

• Weight

  710g

• Size

  175mm x 88mm x 77mm

• Degrees of Freedom

  Thumb x 3

  Index Finger x 2

  Middle Finger x 2

• Transmission Mechanism

  6 Motors Drive Directly

  1 Motor Drive with Gears

• Angle of Joint

  Thumb Joint 0: -60°~60°

  Thumb Joint 1: -35°~60°

  The Thumb Joint 2: 0 to 100°

  Index Finger Joint 0: 0 °~90°

  Index Finger Joint 1: 0 °~100°

  Middle Finger Joint 0: 0 °~90°

  Middle Finger Joint 1: 0 °~100°

• Fingertip Repeat Positioning Accuracy

  ±2mm

• Working Voltage

  12~58V

• Static Current

  58V @ 0.2A

• Maximum Current

  10A

• Communication Interface

  USB2.0

• Working Temperature Range

  -20℃ ~ 60℃

• Load Conditions ( Palm Facing Down At Room Temperature, Grasping A 5cm Round Hard Object)

  The Maximum Weight is 500g

  The Maximum Power Is: 400W@3s

• Load Condition (Palm Facing Left At Room Temperature, Grasping A 5cm Round Hard Object)

  The Maximum Weight is 500g

  The Maximum Power Is: 400W@3s

Sensing parameters

• Number of Pressure Sensors

  9 (Total of 33 Pressure Sensors)

• Array resolution

  2 x 2 (Palm) x 3

  2 x 2 (Single Finger Pulp) x 3

  3 x 1 (Single Fingertip) x 3

• Range of Perception

  10g-2500g

• Maximum Acceptance (Unamaged)

  20kg

Software functions

• Communication rate

  1000Hz

• The number of bytes in a full packet

  Sender：1234 bytes

  Receiver：1270 bytes

• Perceptual feedback

  Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage and Current, Sensor Pressure Value, Sensor Temperature Value, imu Data

• Control feedback

  Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Stiffness Coefficient, Joint Damping Coefficient

Miniature Brushless Force Control Joint Parameters

• Model

  F-1515-108 Miniature Brushless Force Control Joint

  F-1515-214 Miniature Brushless Force Control joint

• Weight

  45g

• Size

  34.8mm x 23.1mm x 23.3mm

• Reduction Ratio

  1：108

  1：214

• Maximum Torque (Ideal)

  0.76Nm

  1.498Nm

• Maximum Torque (Actual)

  The Torque Is In The Same Direction As The Speed：0.49Nm

  The Torque Is In The Same Direction As The Speed：0.86Nm

  The Toque Is In The Opposite Direction of The Rotational Speed：1.37Nm

  The Toque Is In The Opposite Direction of The Rotational Speed：3.1 Nm

• Maximum Rotational Speed

  23rad/s

  11rad/s

• Maximum Line Current

  4.76A

• Communication Control Frequency

  1000Hz

• Method of Communication

  High Speed Unibus

• Encoder

  Rotor Absolute Value Encoder

• Working Temperature Range

  -20℃ ~ 60℃

• IP Rating

  /

• Working Voltage

  12-24V

• Motor Preceived Feedback

  Torque, Angle, Angular Velocity, Temperature

• Motor Control Instruction

  Torque, Angle, Angular Velocity, Stiffness, Damping