Psi H1

Psi H1 is an entry that needs a caveat: on the website of Shanghai-based PsiBot this name belongs to a teleoperation glove, under 240 g with latency below 3 ms and able to drive hands from 2 to 21 degrees of freedom, not to a hand.

The figures given here come from the maker's brochure for the WRC 2026 show and describe a hand called ψ-SynHand; the maker does not confirm that the two are the same product, so the catalog lists the model as a prototype.

According to the brochure the hand has 21 degrees of freedom, 16 of them driven by motors through coupling gears and linkages, weighs 1.1 kg, carries 5 kg dynamically and 20 kg statically, and repeats to ±0.3 mm. It runs on 24 V, drawing about 0.35 A idle and about 5 A at most.

Three-axis force sensors sit in the fingertips and a pressure sensor in the palm; control covers position, velocity and torque, with force feedback from the current loop and the tactile sensors. Integration is via Linux with ROS and ROS 2, a C++ and Python SDK, and URDF and USD models for MuJoCo, Isaac Lab and Isaac Gym. The brochure does not state the finger count.

The hand targets humanoids and teleoperation; the price is on request. Another Chinese hand with 21 joints is the tendon-driven Linker Hand L30 Pro.