Cost-effective research-grade four-finger hand from Wonik Robotics with 16 independently torque-controlled joints (4 DoF per finger) and 1.08 kg total weight (0.17 kg fingers, 0.19 kg thumb) at 5 kg payload. DC-motor drive with 1:369 gear ratio, 0.70 N·m max joint torque and 0.11 s/60° max speed; potentiometer joint resolution of 0.002°, CAN communication at 333 Hz and 24 VDC/100 W power, widely used for grasp and manipulation research.
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