Overview

The DG-4F puts four independently controlled multi-joint fingers on an adjustable base-joint structure, so a single end-effector can be posed as a left-hand-like, right-hand-like or conventional gripper-style configuration. Total articulation is 18 DoF: four per finger plus two base joints. That combination gives it hand-like dexterity without giving up the secure grasp of an industrial gripper — cylindrical, flat and irregular objects are all in scope, across pinch, power and precision grip modes. Backed by 2 Nm stall torque per joint it enveloping-grasps up to 20 kg and delivers 97 N at each fingertip. Optional fingertip sensing (6-axis F/T, 3-axis force, tactile) and suction fingertips are available, and ROS 2 packages ship for Humble, Jazzy and Lyrical.

Highlights

• Four independently controlled multi-joint fingers, 18 DoF total
• Reconfigurable base joint — left-hand, right-hand or gripper-style poses
• 20 kg maximum enveloping payload, 97 N per fingertip
• Pinch, power and precision grip modes
• Optional F/T, force, tactile and suction fingertips

Specifications