ROHand (ROH-AP001)

The ROHand, model ROH-AP001, is a five-finger hand from OYMotion in Shanghai, a company that started with EMG armbands. Six motors inside the hand drive six active degrees of freedom, which the reseller counts as eleven joints. Weight including the wrist is 640 g with a 5 g tolerance.

The maker separates active from passive forces: a fingertip pushes with 1.0 kgf, about 9.8 N, and the thumb with 0.5 kgf, while four flexed fingers passively hold 30 kg, a single flexed finger 10 kg and an extended finger 8 kg. A full flex-extend stroke takes 0.7 s, as does thumb rotation.

The distinguishing feature is force sensing on every finger and the palm, covering 0.1 to 25 N in grids from 7 by 5 to 12 by 5 points at 150 Hz. Position control runs at 1000 Hz with ±0.1 mm repeatability, and ROS and ROS 2 packages with a URDF are available. Interfaces are RS-485, CAN and Modbus-RTU. Applications span humanoids, industry, prosthetics and research; the price is on request.

OYMotion also lists the newer ROH-AP003 at 626 g with three-axis force sensing and the lighter ROH-LiteS001 at 457 g. The RH56DFX and the R1 are the closest six-axis rivals.