WUJI Hand

The first-generation WUJI Hand proved that 20 direct-drive actuators fit into a 580 g hand. WUJI Tech used self-locking rotary direct drives with FOC control in all 20 joints, housed in an aluminium body of 201 by 75 by 50 mm with IP40 protection. Fingertip force is 15 N, static grasp 10 kg, a single finger holds 3 kg in a hook and a vertical or hanging grip holds 5 kg; the opening width is 100 mm.

The hand opens and closes in about 0.3 s, at least two cycles per second, with 1 mm repeatability and up to 7 mm play. No tactile sensors are built in, though an optional tactile glove with more than 400 sensors was offered. The interface is USB-C at USB 2.0 speed, streaming all 20 axes at 1,000 Hz; power is 12 to 20 V through an XT30 connector with 12 W idle draw, and rated life is 300,000 cycles.

WUJI now marks the documentation of this version as archived for existing units, so the catalogue lists it as discontinued. Pricing is on request. Its successor is WUJI Hand 2, while Dex5-S pursues the same direct-drive idea today at a published price.