OrcaHand Touch

OrcaHand Touch is the ETH Zurich open hand fitted with an integrated tactile skin, the one part of the design that stays closed-source. The fingers carry 351 taxels, between 51 and 83 per finger, based on Hall-effect sensing and reading six-axis force and torque.

Mechanically it matches the OrcaHand: 17 independently controlled joints, sixteen finger actuators at 0.92 Nm and one wrist actuator at 1.9 Nm, all in the forearm with tendons to the fingers, orca_core firmware and an ISO 9409-1 flange. Two fans cool the motor pack, and weight rises to about 1.25 kg.

The reseller does not quote load or grip force for this version; the figures come from the reseller's table, since orcahand.com contains no readable text. According to roboticscenter.ai in October 2026 the price starts at USD 6,100 with Feetech servos and USD 7,100 with Dynamixel, on backorder. Software remains MIT-licensed and the hardware under Creative Commons for non-commercial use.

For labs wanting dense tactile data in an open hand this is one of the few options; the MIDAS Hand offers a comparable taxel count with motors inside the hand.