CHOHO Hand (臻手)

Chains instead of tendons: the CHOHO Hand, written 臻手 in Chinese, is according to its maker the first chain-driven dexterous hand. Behind it stands Qingdao Choho Industrial, a listed industrial chain manufacturer active since 1999, which fitted its own micro roller chains with a 1.905 mm pitch and miniature sprockets into the fingers.

Seven motors inside the hand move 17 degrees of freedom, seven active and ten passive, with five in the thumb and three in each other finger. The hand weighs 715 g, is 214 mm long (213.6 x 171.5 x 50 mm when spread out), delivers 30 N at the fingertip, and a single finger bears a load above 15 kg; it opens and closes at 180 degrees per second and is rated for more than a million cycles.

Power is 24 to 48 V, communication EtherCAT or CAN, the operating range minus 20 to 60 degrees Celsius. There is no tactile sensing as standard; an optional fingertip sensor measures 0 to 25 N normal and plus or minus 10 N shear force at 0.1 N resolution. Shown in early 2026, the hand is sold for humanoids and industry.

All specifications come from the reseller AIFIT Lab, since the maker's own pages give only the name; that reseller listed the hand from 16,080 USD and the tactile version at 18,800 USD in October 2026, both on backorder. Hands with a similar DOF count but direct drive are the Revo 3 and the OmniHand 3 Ultra-M.