General

Number of Fingers

5.0

Degrees of Freedom

20.0

Max Payload Capacity

10.0 kg

Actuation

electric

Tactile Sensing

No

Communication Interface

proprietary

Product Category

Multi-Finger/Anthropomorphic Hand

Series / Model

WUJI Hand (aka Wuji Robotic Hand v1.0)

Integrated Sensors

Dual-encoder feedback (per manufacturer claim); encoder-based joint sensing implied

Repeat Positioning Accuracy / Repeatability

1.0 mm

Peak Current

35.0 A

Weight

580.0 g

Power-Off Self-Locking

Yes

Drive Concept / Architecture

Serial direct-drive rotary joints; self-locking rotary direct-drive joints; no nonlinear kinematics

Endurance / life (FTP series)

300000.0 cycles

Communication interfaces / protocol support (as documented/sold across variants)

Self-developed protocol over USB 2.0 (480 Mbps theoretical)

Model variants (right/left; bus-associated in integrator listings)

v1.0 (reseller naming; appears to indicate first-generation WUJI Hand)

Rated continuous operation load

5.0 kg

Dynamic response time

SDK synchronous (non-real-time) calls block ~5–10 ms per request; not suitable for real-time loops

Fist open/close cycle rate

2.0 cycles/s

Control mode support (as stated)

Position control

Environmental robustness features (as stated)

IP40 protection class; two-level thermal protection; recommended operating temperature 15–30 °C

Durability / lifetime

≥ 300,000 no-load open/close cycles

Control Loop Frequency

1000.0 Hz

Operating Voltage Range

12.0-20.0 VDC

Communication Interface Support (raw)

USB 2.0

Finger degrees of freedom

4.0 dof

Robot model formats

URDF; MuJoCo (MJCF); USD

Core control software

wujihandpy (Python SDK with C++ core); official docs/Studio/Glove ecosystem referenced

Fingertip strength (reported by third-party listing)

15.0 N

Simulation/model setup options

ROS2 launch + RViz configs; URDF/MJCF/USD assets available

Active Degrees of Freedom

20.0 dof

Peak Thumb Lateral Speed

600.0 deg/s

Peak Thumb Flexion Speed

600.0 deg/s

Standby Current

1.0 A

No-load Average Current

2.0 A

Operating Voltage (alternative listing)

12.0 VDC

Opening/Closing Time (vendor/reseller claim)

0.3 s

Max Payload Capacity (alternative listing - reseller/aggregator claims)

Full-hand vertical grasp load: 5 kg; single-finger max load (hook grip): 3 kg

Dimensions (L×W×H)

201 x 75 x 50 mm

Repeatability (fingertip grip)

1.0 mm

Mass

0.58 kg

Underactuated degrees of freedom

0.0 dof

Open/close speed (vendor claim)

2.0 Hz

Real-time force feedback (product page claim)

No

Thumb configuration

Fully opposable thumb with lateral swing support

Maximum grasping diameter

100.0 mm

Full-hand vertical grasp load

5.0 kg

Single finger max load (hook grip)

3.0 kg

Weight tolerance (excluding cables)

570.0-590.0 g

Weight condition

Self-weight specified excluding cables

Impact protection mechanism

Twist-lock + slot locking structure designed to release under overload impact to protect the hand

Kinematics statement

Serial direct-drive rotary joints; no nonlinear kinematics

SDK

wujihandpy (Python bindings over a C++ core)

ROS visualization support details

ROS2 launch and RViz configs available via wuji-hand-description repository