DexMano D22-PRO

Comparison tables attribute a hand called DexMano D22-PRO to Botyard Intelligence of Suzhou, yet the maker's own website documents only the Gaoshan S1 and never confirms the D22-PRO name; the matching figures (22 degrees of freedom, 1.8 kg, tactile sensing) point to the same product, so the data below come from the Gaoshan S1 sheet, version 0.1 of September 2026.

The hand has 22 joints and 18 active degrees of freedom, four in the thumb and three per finger, with a tendon drive that combines tendons, linkages and direct drive and houses the actuator unit in a forearm module; including that module it measures 109.9 x 92.33 x 439.45 mm and weighs 1.8 kg. Fingertip force is 30 N, grip force 100 N, lifting force 25 kg, and the smallest graspable object 9 mm.

Fingers open and close at 3 Hz, a joint reaches 360 degrees per second, the control loop runs above 1 kHz and reaction time stays under 0.3 s. Three-dimensional fingertip tactile sensors carry 116 measuring points each with a 0.1 N threshold and 1 mm spatial resolution, joined by a six-axis IMU, joint angles and tendon monitoring of voltage, current, temperature and tension.

Interfaces are EtherCAT at 500 Hz, RS-485 at 200 Hz and CAN FD at 100 Hz, with ROS 2 via ros2_control, a C++ SDK and URDF, MJCF and USD models; control is by position or force, and a Juexian desktop client handles operation. Power is 24 V DC at 7.5 A, cooling is by air, the operating range 0 to 45 degrees Celsius, and the variants are S1-L-FT, S1-R-FT and S1-LR-FT.

The status is prototype for humanoids and research; the order form lists no price, so it is available on request. A comparable forearm-actuated design is the OmniHand 3 Ultra-T.