RobotEra XHAND 1 PRO Dexterous Hand
Vendor: 星动纪元
Product: XHAND 1 PRO
Flagship hand at 0.884 kg with 21 fully direct-driven and back-drivable active DoF, 160 mm maximum grasp diameter and 135° five-finger spread. 18 three-axis tactile sensors (5 fingertip, 10 finger-belly, 3 palm) cover 0.1-25 N at 0.01 N resolution with 10 mm proximity sensing; joint backlash under ±0.25 mm, ±0.1 mm repeatability, over 200k loaded cycles, above 5 Hz open-close and MIT, feedforward force, position and drag-teaching control modes.
| size | 210×102×44 mm |
| weight | 0.884kg |
| tactile | 指尖×5 + 指腹×10 + 手掌×3，三维力 0.1-25 N，分辨率 0.01 N |
| voltage | 24-72V |
| backlash | 单关节 <±0.25 mm |
| lifespan | 带载 >20 万次 |
| proximity | 10 mm |
| active_dof | 21（全部可反驱） |
| communication | EtherCAT / RS485 / CAN FD |
| control_modes | MIT 模式 / 前馈力控 / 位控 / 拖动示教 |
| finger_spread | 135° |
| repeatability | Pitch ±0.1 mm / 侧摆 ±0.2 mm |
| open_close_speed | >5 Hz |
| max_grasp_diameter | 160 mm |