This version is intended for robots, cobots, humanoid robots, mobile robots, robotic manipulators.
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Force
- Servo: 20 kg⋅cm
- Object lift: 8 kg
- Object grasp: 5kg
- Pinch grasp force: 500g
Speed
- High torque
- Grasp time: 1s
- Low torque:
- Grasp time: 2s
Automation
- Auto calibration
- Thermal protection
- Overcurrent Protection
- Adaptive grasping
Finger Control
- Finger flexion 0-100%
- Thumb rotation 0-100%
Dexterity
- Active DOF: 5
- Total DOF: 15
- Index flexion
- Middle flexion
- Ring+Little Flexion
- Thumb Flexion
- Thumb Rotation
Gesture control
- Whole hand closing factor 0-100%
- Auto object grasp
Compatibility
- Universal Robots: UR3/5/10/16
- Yaskawa/Motoman: HC10/20, GP-4/6/12/18/20
- Fanuc: CRX series
- KUKA: LBR iiwa/ LW-4+
- Agilex Nero
Wrist Flanges
- ISO-9409-1-50-4-M6
- ISO-9409-1-40-4-M6
- PCD-40-4-M5
- PCD-40-4-M6
- Agilex Nero
Electrical Interface
- Power: DC 12V @ 5A
- Onboard DC adapter:
- 24V to 12V
- Current limiter:
- 0.8 A – 5A
- Fuse holder
Mechanical Design
- Tendon driven
- Human-like
- Under-actuated
Customizations
- Upper Cover color
- Finger covers color
- Lower Cover color
- Pads color
- Electrical interface
- Mechanical flange
Grip
- Pads
- Fingers: 3 pads
- Palm: 3 pads
- Material
- Silicone 30A
- Skin safe
⚠️ Form updated — please resubmit. Previous entries were lost due to a technical error. Sorry for the trouble!”
Resources
Yeah Hand ROS Driver (ROS2 Jazzy)
Yeah Hand Hackaday Project Page
Inside the Yeah Hand
