Prime Hand specifications

Dimensions, performance, interfaces, and operating specifications for Prime Hand.

General

Parameter

Value

Degrees of Freedom

22 DOF

actively actuated · 4 DOF per digit × 5 digits + 2 wrist DOF

Degrees of Freedom

22 DOF

actively actuated · 4 DOF per digit × 5 digits + 2 wrist DOF

Hand Dimensions

18.5 × 8 × 4.5 cm

Hand

Hand Dimensions

18.5 × 8 × 4.5 cm

Hand

Hand+Forearm Dimensions

43 × 8.5 × 8.2 cm

Hand+Forearm

Hand+Forearm Dimensions

43 × 8.5 × 8.2 cm

Hand+Forearm

Weight

approx. 300 g

Hand · Hand+Forearm: approx. 2 kg

Weight

approx. 300 g

Hand · Hand+Forearm: approx. 2 kg

Performance

Parameter

Value

Max. Fingertip Force

45N

Max. Fingertip Force

45N

Maximum Grasping Payload

＞40kg

Maximum Grasping Payload

＞40kg

Fingertip Repeatability

0.05mm

Fingertip Repeatability

0.05mm

Joint Positioning Repeatability

0.1°

Joint Positioning Repeatability

0.1°

Max. Speed (Open/Close Cycle）

1.5 cycles/s

Max. Speed (Open/Close Cycle）

1.5 cycles/s

Backdrive Torque

＜0.05Nm

Backdrive Torque

＜0.05Nm

Electrical & Communication

Parameter

Value

Electrical Specifications

Operating Voltage

36–60 V

Rated: 48 V

Operating Voltage

36–60 V

Rated: 48 V

No-load Current

0.5A

No-load Current

0.5A

Standby Current

0.3A

Standby Current

0.3A

Control and Communication

Control Frequency

200Hz

Control Frequency

200Hz

Control Mode

Single-joint MIT Mode

Control Mode

Single-joint MIT Mode

Communication Interface

RJ45 Ethernet

Communication Interface

RJ45 Ethernet

Range of Motion

Flexion–extension

Positive angles move toward the palm; negative angles move toward the back of the hand.

Abduction–adduction

Fingers: positive toward the thumb side, negative toward the little-finger side. Thumb: positive toward the palm, negative toward the back of the hand.

Wrist motion

WR1 (Pitch): positive toward the palm, negative toward the back of the hand. WR2 (Yaw): positive toward the thumb side, negative toward the little-finger side.

22 actuated degrees of freedom, including the wrist.

Joint

Fingers

Thumb

Wrist

DIP — Flexion/Extension

-5° to +75°

-25° to +80°

—

DIP — Flexion/Extension

Fingers

-5° to +75°

Thumb

-25° to +80°

Wrist

—

PIP — Flexion/Extension

-5 to +105°

-30° to +75°

—

PIP — Flexion/Extension

Fingers

-5 to +105°

Thumb

-30° to +75°

Wrist

—

MCP1 — Flexion/Extension

-35° to +95°

-35° to +50°

—

MCP1 — Flexion/Extension

Fingers

-35° to +95°

Thumb

-35° to +50°

Wrist

—

MCP2 — Abduction/Adduction

F2: -30° to +40° F3: -40° to +35° F4:-40° to +30° F5:-40° to +30°

-25° to +45°

—

MCP2 — Abduction/Adduction

Fingers

F2: -30° to +40° F3: -40° to +35° F4:-40° to +30° F5:-40° to +30°

Thumb

-25° to +45°

Wrist

—

WR1

—

-70° to 70°

WR1

Fingers

—

Thumb

—

Wrist

-70° to 70°

WR2

—

-45° to 45°

WR2

Fingers

—

Thumb

—

Wrist

-45° to 45°

— indicates no value specified for this joint and group.

Tactile Sensors

Parameter

Value

Data Rate

100Hz

Data Rate

100Hz

Trigger Force

0.2N

Trigger Force

0.2N

Measurement Range

20N/cm²

Measurement Range

20N/cm²

Overload Protection

40N/cm²

Overload Protection

40N/cm²

Force Resolution

0.05N

Force Resolution

0.05N

Positioning Accuracy

10% F.S.

Positioning Accuracy

10% F.S.

Repeatability

5% F.S.

Repeatability

5% F.S.

Localization Accuracy

0.5mm

Localization Accuracy

0.5mm

Minimum Resolution

0.5mm

Minimum Resolution

0.5mm

Spatial Resolution

8*16*0.5mm 8*4*0.5mm 8*12*0.5mm

Spatial Resolution

8*16*0.5mm 8*4*0.5mm 8*12*0.5mm

Durability (Press Cycles)

1,000,000 cycles

Durability (Press Cycles)

1,000,000 cycles

Durability (Friction Cycles)

1,000,000 cycles

Durability (Friction Cycles)

1,000,000 cycles

Environmental & Reliability

Parameter

Value

Operating Temperature

0°C to 60°C

Operating Temperature

0°C to 60°C

IP Rating

IP20

IP Rating

IP20

Humidity

< 60% RH

Humidity

< 60% RH

Nominal Lifetime

>1,000,000 cycles (no load)

Nominal Lifetime

>1,000,000 cycles (no load)