Shadow Dexterous Hand

Shadow Robot · Dexterous Hands & Grippers

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The Shadow Dexterous Hand is the Shadow Robot Company's anthropomorphic research hand, designed to approach the size, kinematics and force output of an adult male hand. The flagship DH version has four fingers and a thumb with 24 movements, 20 of them actuated by tendon-driven Smart Motor units packed into the forearm base, plus a 2-DoF wrist, more than 100 sensors sampled at up to 1 kHz and tactile fingertips on the thumb and index finger as standard. It weighs 4.3 kg with the forearm and can hold up to 4 kg in a power grasp. The Lite, Extra Lite and Super Lite versions drop fingers to cut weight to 2.4, 2.1 and 1.8 kg. All versions use EtherCAT and ROS.

Specs

• Degrees of Freedom: 24 movements, 20 actuated (DH); 13 (Lite); 10 (Extra Lite); 7 (Super Lite)
• Weight: 4.3 kg with forearm (DH); 2.4 kg (Lite); 2.1 kg (Extra Lite); 1.8 kg (Super Lite)
• Payload: up to 4 kg in a power grasp (DH)
• Hands: 4 fingers + thumb (DH); 3, 2 or 1 finger + thumb on the Lite versions
• Actuators: 20 DC Smart Motor units, tendon-driven (DH)
• Sensors: Hall-effect joint sensors, tendon force sensors, IMU; 2 Shadow Tactile Fingertips standard
• Control Rate: 1 kHz host control loops; 5 kHz torque loop in motor units (DH)
• Interface: EtherCAT, 100 Mbps
• Power: 48 V supply
• Material: Aluminium, brass, acetal, polycarbonate, polyurethane
• Software: ROS (open source)

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