HX5-D20

Four DYNAMIXEL XM335-T323-T actuators per finger, twenty in all, sit directly in the joints of the HX5-D20 from Korean actuator maker ROBOTIS. There are no tendons and no linkages: every one of the twenty degrees of freedom is a direct-drive servo with its own encoder, and fingertip tactile sensors complete the picture.

Published weight varies by source, 970 g in the ROBOTIS table, 3.0 lb in the product details and 1,000 g ±2 % at Generation Robots; the hand measures 243 x 128 x 65 mm. Fingertip force is 14 N and the envelope payload 15 kg.

It runs on 24 V with a 2.6 A peak and communicates over RS-485 at 4 Mbit/s; position and current control through the DYNAMIXEL SDK runs at 1 kHz in hardware, the ROS 2 controller built on ros2_control at 100 Hz. Left (MLT) and right (MRT) versions exist. As of October 2026 the robotis.us shop lists the left hand at 7,703.85 USD with roughly three months lead time, Generation Robots at 5,800 EUR net.

A European alternative with integrated wrist electronics is SVH 5-Finger-Hand.