Psyonic Ability Hand Bionic Hand with Tactile Feedback
Vendor: Psyonic
Product: Ability Hand
The Psyonic Ability Hand (MK9.5) is a 6-DoF bionic dexterous hand for prosthetics and robotics research: 1 DoF per finger plus 2 DoF in the thumb, driven by 6 brushless DC motors at just 440–470 g total weight (Large 186×85 mm / Small 180×85 mm). Strong grasping: 78 N power grip, 8 N pinch, 17 N key grip, 0.2 s finger close time, peak angular speed 462°/s for fingers and 1848°/s for the thumb, with axial load capacity up to 45.4 kg (thumb 27.2 kg). Rich tactile sensing: 30 force-sensing resistors (6 per digit) plus 6 encoders streamed in real time, 1 kHz closed-loop control in position/current/velocity/duty modes, and 32 grip patterns (19 pre-defined). Powered at 6–12 V (14 A peak, 74 mA quiescent) with an onboard 2200 mAh battery and ~1-hour 30 W / 12 V / 2.5 A fast charging; IP64 rated, touchscreen-compatible fingertips, and an electric + manually rotatable thumb. Open software ecosystem: Python/C++ APIs, ROS 2, NVIDIA Isaac Sim/Isaac Lab support and URDF models, with BLE/I2C/UART/RS485 interfaces.
| dof | 6（每指 1 + 拇指 2） |
| size | 大号 186×85 mm / 小号 180×85 mm |
| type | dexterous-hand |
| power | 6–12 V，峰值 14 A / 静态 74 mA；2200 mAh 电池，30 W 快充约 1 h |
| weight | 大号 470 g / 小号 440 g |
| control | 1 kHz 闭环；位置/电流/速度/占空比四模式；32 种抓握模式（19 预定义） |
| fingers | 5 |
| sensing | 30 个力敏电阻（每指 6 个）+ 6 个编码器实时回传 |
| software | Python / C++ / ROS 2 / Isaac Sim / Isaac Lab / URDF（开源 ability-hand-api） |
| actuation | 6 个无刷直流电机 |
| max_speed | 手指 462°/s；拇指 1848°/s |
| axial_load | 45.4 kg（拇指 27.2 kg） |
| grip_force | 全力握持 78 N / 捏取 8 N / 钥匙捏 17 N |
| interfaces | BLE / I2C / UART / RS485 |
| protection | IP64；触摸屏兼容指尖；拇指电动 + 手动旋转 |
| finger_close_time | 0.2 s |