Product details

ROH-AP002

ROH-AP002 灵巧手

Dexterous Hand

OYMotion Technologies Co., Ltd.

ROH-AP002

About this product

ROH-AP002 is OYMotion's hybrid tactile and force-controlled dexterous hand for robotic manipulation and contact-data collection. The manufacturer describes normal and tangential force measurement on the fingers, supplemented by a palm pressure array, to provide feedback for compliant grasping. The detailed page lists a 626 ±5 g mass including the wrist, 24 V supply and UART, RS485 and CAN interfaces. ROS/ROS2 integration is supported. Its large lifting and single-finger load figures are structural or specified-posture ratings, and should not be interpreted as active fingertip force.

Model
ROH-AP002
Category
Dexterous Hand

Specifications & evidence

Source-backed claims. Configuration, workload and evidence type matter when comparing products.

Active degrees of freedom

6

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
ROH-AP002 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-AP002 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: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Bending/stretching time for full range at maximum speed 0.7 second

Communication interface

UART, RS485, CAN

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
ROH-AP002 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-AP002 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: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
ROH-AP002 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-AP002 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: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Design service life-span 3 years

Fingertip force bent

≧1.0 Kgf

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Active force of each fingertip on bended state ≧1.0 Kgf

Fingertip force straight

≧0.5 Kgf

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Active force of each fingertip on stretched state ≧0.5 Kgf

Height

183 mm

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Vertical distance from the tip of the middle finger to the wrist 183 mm

Joint count

11

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
ROH-AP002 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-AP002 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

626g ± 5g

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Weight (including wrist) 626g ± 5g

Materials

Aluminum alloy, zinc alloy, stainless steel, silicone, plastic.

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
5.1. 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: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Working 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: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
ROH-AP002 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: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
ROH-AP002 dexterous hand adopts RS485: DC 12-24V, CAN: 12-48V power supply, rated power 48W.

Palm width

82 mm

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Maximum palm width 82 mm

Passive finger payload bent

10 Kg

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Maximum passive load for each finger on bended state 10 Kg

Passive finger payload straight

8 Kg

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Maximum passive load for each finger on stretched state 8 Kg

Passive four finger payload bent

30 Kg

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Maximum passive load for four fingers on bended state 30 Kg

Rated power

48 W

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
ROH-AP002 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: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
ROH-AP002 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-AP002 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.

Thumb fingertip force

≧1.0 Kgf

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Maximum active force of thumb tip ≧1.0 Kgf

Thumb flexion angle

0~50 Degrees

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Maximum opening and closing angle of thumb to palm 0~50 Degrees

Thumb lateral rotation

0~90 Degrees

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Thumb lateral rotation angle 0~90 Degrees

Thumb length

113 mm

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Thumb length 113 mm

Thumb rotation time

0.7 second

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Rotation time of thumb for full range at maximum speed 0.7 second

Thumb side angle

0~31 Degrees

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Maximum opening and closing angle of the thumb side 0~31 Degrees

Thumb tip to wrist

97 mm

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Vertical distance from thumb tip to wrist 97 mm

Wrist diameter

49 mm

Manufacturer specification

Manual version: V1.0.3; Measurement scope: As specified for this exact model in its current official manual

oy-ROH-AP002
Wrist diameter 49 mm

Contact Us

If you have any questions or would like to get in touch, please feel free to reach out to us at the email below.

info@robotuo.com

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