DexHand021

Twelve drive units pulling tendons give the DexHand021 from Chinese maker DexRobot 19 degrees of freedom, twelve of them active and seven passive, across five fingers. The company labels it the MP or mass-production version and aims it at humanoids, research and teleoperation.

The hand weighs 1 kg, measures 293 mm, lifts 5 kg and closes with 38 N of grasp force while a single finger delivers 12 N; a full cycle takes under a second, repeatability is 0.15 mm and the rated life exceeds one million cycles. Inside sit 23 sensors covering joint position, normal and tangential force from 0 to 20 N at 0.1 N resolution, proximity from 1 cm and temperature.

Communication runs over CAN FD via a USB adapter at 24 V, with Python and C++ SDKs plus ROS integration. Price on request. The smaller three-finger DexHand021 S shares the family but swaps tendons for gears and adds a palm camera.