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Active degrees of freedom
6
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001ROH-AP001 dexterous hand features 11 movable joints, with 6 built-in motor drivers and motor control circuits, providing 6 active degrees of freedom. Equipped with a built-in PID motor control algorithm, it can simulate various human hand grasping operations. Each finger is fitted with a force sensor, enabling real-time monitoring and control of gripping force. Typical applications include robotic end-effectors, educational and research equipment, and bionic prosthetics, etc. ROH-AP001 dexterous hand with UART, RS485 or CAN physical interface, support SerialCtrl dedicated serial protocol, ModBus-RTU protocol and CAN protocol, can provide ROS / ROS2 platforms for secondary development with SDK
Closing time
0.7 second
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Bending/stretching time for full range at maximum speed 0.7 second
Communication interface
UART, RS485, CAN
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001ROH-AP001 dexterous hand features 11 movable joints, with 6 built-in motor drivers and motor control circuits, providing 6 active degrees of freedom. Equipped with a built-in PID motor control algorithm, it can simulate various human hand grasping operations. Each finger is fitted with a force sensor, enabling real-time monitoring and control of gripping force. Typical applications include robotic end-effectors, educational and research equipment, and bionic prosthetics, etc. ROH-AP001 dexterous hand with UART, RS485 or CAN physical interface, support SerialCtrl dedicated serial protocol, ModBus-RTU protocol and CAN protocol, can provide ROS / ROS2 platforms for secondary development with SDK
Control modes
Built-in PID motor control
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001ROH-AP001 dexterous hand features 11 movable joints, with 6 built-in motor drivers and motor control circuits, providing 6 active degrees of freedom. Equipped with a built-in PID motor control algorithm, it can simulate various human hand grasping operations. Each finger is fitted with a force sensor, enabling real-time monitoring and control of gripping force. Typical applications include robotic end-effectors, educational and research equipment, and bionic prosthetics, etc. ROH-AP001 dexterous hand with UART, RS485 or CAN physical interface, support SerialCtrl dedicated serial protocol, ModBus-RTU protocol and CAN protocol, can provide ROS / ROS2 platforms for secondary development with SDK
Design service life
3 years
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Design service life-span 3 years
Fingertip force bent
≧1.0 Kgf
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Active force of each fingertip on bended state ≧1.0 Kgf
Fingertip force straight
≧0.5 Kgf
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Active force of each fingertip on stretched state ≧0.5 Kgf
Height
183 mm
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Vertical distance from the tip of the middle finger to the wrist 183 mm
Joint count
11
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001ROH-AP001 dexterous hand features 11 movable joints, with 6 built-in motor drivers and motor control circuits, providing 6 active degrees of freedom. Equipped with a built-in PID motor control algorithm, it can simulate various human hand grasping operations. Each finger is fitted with a force sensor, enabling real-time monitoring and control of gripping force. Typical applications include robotic end-effectors, educational and research equipment, and bionic prosthetics, etc. ROH-AP001 dexterous hand with UART, RS485 or CAN physical interface, support SerialCtrl dedicated serial protocol, ModBus-RTU protocol and CAN protocol, can provide ROS / ROS2 platforms for secondary development with SDK
Mass
661g ± 5g
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Weight (including wrist) 661g ± 5g
Materials
Aluminum alloy, zinc alloy, stainless steel, silicone, plastic.
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP0015.1. Material Aluminum alloy, zinc alloy, stainless steel, silicone, plastic. 5.2.
Operating environment
temperature: -10 degrees Celsius ~ +40 degrees Celsius Humidity: Maximum relative humidity 85%
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Working environment temperature: -10 degrees Celsius ~ +40 degrees Celsius Humidity: Maximum relative humidity 85%
Operating voltage
12–48 V DC
Manufacturer specification
Configuration: CAN interface (-C suffix); Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001ROH-AP001 dexterous hand adopts RS485: DC 12-24V, CAN: 12-48V power supply, rated power 48W.
Operating voltage
12–24 V DC
Manufacturer specification
Configuration: RS485 interface; Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001ROH-AP001 dexterous hand adopts RS485: DC 12-24V, CAN: 12-48V power supply, rated power 48W.
Palm width
83 mm
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Maximum palm width 83 mm
Passive finger payload bent
10 Kg
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Maximum passive load for each finger on bended state 10 Kg
Passive finger payload straight
8 Kg
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Maximum passive load for each finger on stretched state 8 Kg
Passive four finger payload bent
30 Kg
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Maximum passive load for four fingers on bended state 30 Kg
Rated power
48 W
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001ROH-AP001 dexterous hand adopts RS485: DC 12-24V, CAN: 12-48V power supply, rated power 48W.
Sdk support
ROS / ROS2 development SDK
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001ROH-AP001 dexterous hand features 11 movable joints, with 6 built-in motor drivers and motor control circuits, providing 6 active degrees of freedom. Equipped with a built-in PID motor control algorithm, it can simulate various human hand grasping operations. Each finger is fitted with a force sensor, enabling real-time monitoring and control of gripping force. Typical applications include robotic end-effectors, educational and research equipment, and bionic prosthetics, etc. ROH-AP001 dexterous hand with UART, RS485 or CAN physical interface, support SerialCtrl dedicated serial protocol, ModBus-RTU protocol and CAN protocol, can provide ROS / ROS2 platforms for secondary development with SDK
Tactile array layout
Thumb: 7×5 Index finger: 12×5 Middle finger: 12×5 Ring finger: 12×5 Little finger: 8×4 Palm: 11×5
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Sensor Area(Dots) Thumb: 7×5 Index finger: 12×5 Middle finger: 12×5 Ring finger: 12×5 Little finger: 8×4 Palm: 11×5 Force Range
Tactile force range
0.1N ~ 25N
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Force Range 0.1N ~ 25N
Thumb fingertip force
≧1.0 Kgf
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Maximum active force of thumb tip ≧1.0 Kgf
Thumb flexion angle
0~50 Degrees
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Maximum opening and closing angle of thumb to palm 0~50 Degrees
Thumb lateral rotation
0~90 Degrees
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Thumb lateral rotation angle 0~90 Degrees
Thumb length
113 mm
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Thumb length 113 mm
Thumb rotation time
0.7 second
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Rotation time of thumb for full range at maximum speed 0.7 second
Thumb side angle
0~31 Degrees
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Maximum opening and closing angle of the thumb side 0~31 Degrees
Thumb tip to wrist
95 mm
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Vertical distance from thumb tip to wrist 95 mm
Wrist diameter
49 mm
Manufacturer specification
Manual version: V1.0.8; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-AP001Wrist diameter 49 mm