Human Inspired, designed with Dexterity in mind
The RH8D features 19 degrees of freedom, including opposable thumb and a full spherical wrist joint.
Additionally, 3-segment fingers are controlled by smart actuators.
The RH8D is inspired in the Human hand to be capable of performing the most important grips.
Advanced Mechanical design
19 Degrees of Freedom
8 Smart actuators for precise control
(actuators contained inside the unit)
Under actuated design aims to provide the right balance between fine control and conformance to the shape of the objects.
Sensorial feedback
All actuators provide real time control and feedback of position, speed and current measurement (with direction), enabling inference of applied force.
Additional data including actuator temperature, (over)load status and PWM, a Palm ToF Distance sensor and optional Capacitive pads at the back of the palm complete the sensor array.
FTS Tactile Pressure sensors (shown in the image) are optionally available when high resolution force sensing is required (1mN / 0.1g resolution).
Available in 3 axis (FTS-3 measuring contact force and shear forces) and 1 axis (FTS-1 measuring contact force) variants
RH8D in action: Videos
Be sure to check out the RH8D Robot hand Youtube playlist .
In the video, the RH8D Robot hand shown on the left.
Middleware & Software
URDF models available for use in Simulation
Open source ROS package
Python (PyPot)
Low level Serial Protocol (UART): Dynamixel Protocol 1.0 and 2.0 compatible
Performance & Payload
Payload (Vertical pull): 2.50Kg
Payload (3D space): 1Kg
Weight: 620g
(all actuators are contained inside the unit)
When assembling on Robot arms, it is possble to bypass the built-in Wrist Rotation DoF and use the Arm’s own rotation DoF, if convenient.
Technical Data
Supply Voltage: 9V to 24V
Embedded processor: 32bit Arm Cortex M4
Dedicated co-processor for each smart actuator
Logic Interfaces
UART over RS485
(or Full or Half duplex TTL, compatible with Robotis systems)USB interface: for Configuration and Maintenance
Optional Bluetooth: online maintenance and diagnostics.
e-Manual
For more information about using the RH8D Robot hand, consult the dedicated e-Manual Page