DexRobot DexHand 021

DexRobot · Dexterous Hands & Grippers

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DexHand021 is DexRobot's family of dexterous robotic hands for humanoid robots, embodied-AI research and automation. The five-finger mass-production model, 021 MP, has 19 degrees of freedom (12 active, 7 passive) with tendon drive, 23 integrated sensors for position, force, proximity and temperature with 0.1 N sensitivity, active cooling for round-the-clock duty and a rated life above one million cycles; it weighs 1 kg, lifts 5 kg and runs on 24 V over CAN FD. The original 021 Concept introduced 18 degrees of freedom and independently replaceable fingers, the 021 PRO integrates the wrist with the hand, and the 021 S is a 0.6 kg three-finger, 8-DoF version with a palm camera.

Specs

• Degrees of Freedom: 19, 12 active (021 MP); 18 (Concept); 8 (021 S)
• Weight: 1 kg (021 MP); 0.6 kg (021 S)
• Dimensions: 292.6 x 113.2 x 56.5 mm (021 MP); 208 x 80 x 82.8 mm (021 S)
• Payload: 5 kg total hand load (021 MP); 2.5 kg rated, 5 kg max (021 S)
• Grip Force: 38 N or more grasp, 12 N or more fingertip (021 MP)
• Voltage: 24 V DC
• Interface: CAN FD (021 MP); CAN FD or RS485 (021 S)
• Repeatability: ±0.15 mm (021 MP); ±0.5 mm (021 S)
• Sensors: Position, normal and tangential force, proximity, temperature; 0.1 N resolution
• Rated Lifetime: over 1,000,000 cycles (021 MP); 200,000 cycles (021 S)
• Software: Python, C++ and ROS

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