Handle L1

The Handle L1 is a lightweight hand from CASBOT, a humanoid-robot company in Beijing's Haidian district that also sells the hand on its own through JD.com. Six motors inside the hand provide six active degrees of freedom, and five passive ones bring the count to eleven.

The weight is 600 g, although the maker's comparison table says 610 g, and the dimensions are given as 192 x 80 x 45 mm or 194 x 84 x 52 mm depending on where you look on the same page.

Despite the low mass CASBOT claims more than 25 kg in a flat lift and more than 10 kg in a vertical grip, over 10 N per finger, 14 N in pinch and 25 N in lateral pinch; the grasp range spans 16 to 95 mm, an open-close cycle takes under 0.6 s, repeatability is 0.1 mm and the service life exceeds one million cycles. The maker notes that the figures come from calculation and laboratory testing.

The standard version has no tactile sensing; the Pro version adds fingertip sensors covering 0.15 to 20 N at 0.1 N resolution with a response time of 5 ms or less. Control runs in a position loop or a force-position loop over RS485, CAN-FD or EtherCAT, with a 24 to 60 V supply. The hand is meant for CASBOT humanoids and for research. The JD.com listing shows no price, so it is available on request.

In mass and six-motor layout the Handle L1 resembles the Revo 2, but it claims a considerably higher load.