Hands, grippers and teleoperation

Shadow Robot Company

Shadow Dexterous Hand

Human-sized dexterous hand for demanding research labs

24 DoF · Weight 4.3 kg

ORCA Dexterity

ORCA Hand

Open robot hand from ETH Zurich, tendon-driven, touch option

17 DoF

Unitree Robotics

Unitree Dex5-1

Unitree five-finger hand; the Dex5-1P adds touch sensing

20 DoF · Weight 1.1 kg · Payload 3.5–4.5 kg

Linkerbot

Linker Hand O7

Entry-level five-finger hand for teaching and first experiments

17 DoF · Weight 635 g

Inspire Robots

Inspire RH56DFX

Low-cost five-finger hand, often fitted to Unitree humanoids

6 DoF · Weight 540 g

Wonik Robotics

Allegro Hand V5

Long-standing research hand with a large university user base

9 DoF · Weight 1.05 kg · Payload 12 kg

Unitree Robotics

Unitree Dex3-1

Three-finger hand of the Unitree G1 for basic grasping and teleoperation

7 DoF · Weight 710 g · Payload 500 g

Tesollo

Tesollo DG-5F-S

Compact direct-drive hand for cobots and humanoids

20 DoF · Weight 880 g · Payload 1–2 kg

Inspire Robots

Inspire RH56F1

All-metal five-finger hand with touch sensing and EtherCAT control

6 DoF · Weight 630 g · Payload 30 kg

Inspire Robots

Inspire RH56E2

Strong five-finger hand for factory tasks needing high grip force

6 DoF · Weight 790 g · Payload approx. 15 kg

Linkerbot

Linker Hand L20

High-DoF hand for in-hand manipulation and data collection

21 DoF · Weight 1.1 kg · Payload 10 kg

Robotera

XHAND1

Strong research hand; the Pro adds 21 DoF and full-hand touch

12 DoF · Weight 1.1 kg

Tesollo

Tesollo DG-5F-M

Strong fully actuated hand for glove teleoperation and tools

20 DoF · Payload approx. 20 kg

Wuji Technology

Wuji Hand 2

Light 20-DoF hand for teleoperation research

20 DoF · Weight approx. 600 g

Inspire Robots

Inspire RH5DG2

Hand with more independent finger joints for research labs

13 DoF · Weight 1.02 kg

Linkerbot

Linker Hand L30

Human-like tendon-driven hand for demanding research

21 DoF · Weight 1.4 kg · Payload 2 kg

Sharpa

Sharpa Wave W01

Hand with fingertip touch sensing for labs and humanoid makers

22 DoF · Weight 1.3 kg · Payload approx. 40 kg

Shadow Robot Company

Shadow DEX-EE

Rugged three-finger hand with tactile tips for training-heavy labs

12 DoF · Weight 900 g

PSYONIC

PSYONIC Ability Hand

Light, fast hand with touch feedback, originally a prosthesis

6 DoF · Weight 440–470 g

SCHUNK

SCHUNK SVH

Industrial five-finger hand for research on human-like grasping

9 DoF · Weight 1.3 kg

Sharpa

Sharpa Wave W02

Lighter, sealed successor to the Wave for humanoids

21 DoF · Weight 750 g

Unitree Robotics

Unitree Dex5-S

New human-sized hand with 22 degrees of freedom, 620 g

22 DoF · Weight 620 g · Payload 1 kg

Robotiq

Robotiq 2F-85 / 2F-140

Adaptive two-finger gripper for UR and Franka cobots

Payload 5 kg

SCHUNK

SCHUNK Co-act EGP-C

Certified cobot gripper for work next to people

Weight 1.38 kg · Payload 1.15 kg

OnRobot

OnRobot 2FG7

Compact sealed parallel gripper for CNC machine tending

Weight 1.1 kg · Payload 7 kg

Robotiq

Robotiq Hand-E

Precise parallel gripper for machine tending and assembly

Weight 1 kg · Payload 7 kg

OnRobot

OnRobot RG2

Gentle long-stroke two-finger gripper, common in teaching labs

Payload 2 kg

Robotiq

Robotiq PowerPick

Vacuum gripper for boxes and palletising with cobots

Weight 1–4.2 kg · Payload 11.5 kg

GelSight

DIGIT

Low-cost open tactile fingertip for learning labs

GelSight

GelSight Mini

Camera-and-gel touch sensor that fits robot grippers

XELA Robotics

XELA uSkin

Magnetic 3-axis skin sensors that detect when an object slips

Hugging Face und Seeed Studio

SO-ARM101

Open arm pair for imitation learning: demonstrate, train, run

6 DoF

UC Berkeley

GELLO

Low-cost 3D-printed leader arm to control a real robot arm

Trossen Robotics

Trossen TRumi

Handheld gripper that records human demonstrations without a robot

Trossen Robotics

Trossen Stationary AI

Ready-made four-arm ALOHA station for two-handed demonstrations

6 DoF · Weight 4 kg · Payload 1.5 kg

Trossen Robotics

Trossen Glide und Cockpit

Leader arms and station to demonstrate and record tasks

Trossen Robotics

Trossen WidowX

New low-cost arm family with leader arms for imitation learning

6 DoF · Weight 8.26 kg · Payload 7 kg

Trossen Robotics

Trossen Workbench Lite

Two-arm tabletop rig for recording demonstrations

Payload 4–6 kg

Trossen Robotics

Trossen Rivet

Wheeled dual-arm robot for mobile demonstration data

Payload 4–6 kg

Rokoko

Rokoko Smartgloves II

Affordable motion-capture gloves as input for teleoperation

SenseGlove

SenseGlove Nova 2

Force-feedback gloves to feel what the robot hand touches

Wuji Technology

Wuji Glove

Glove with touch sensors to control and record dexterous hands

Weight 67.5 g

MANUS

MANUS Metagloves Pro

Hand-tracking gloves that drive robot hands and record data

25 DoF

HaptX

HaptX Gloves G1

Gloves with fine touch feedback for realistic teleoperation

36 DoF · Weight 570 g