Product details

Wuji Hand 2

Dexterous Hand

WUJI TECH

Wuji Hand 2

About this product

Wuji Hand 2 is a five-finger, non-tactile robotic-hand prototype for research, robot integration and human-robot interaction. Its 20 independently actuated direct-drive joints support backdrivability, MIT force-position control and a 1 kHz control rate across 20 axes. The manufacturer provides Ethernet connectivity, SDK interfaces and simulation models. Passive protective skin must remain fitted during operation and does not provide tactile sensing. Specifications retain their documented Beta hardware configuration and measurement conditions.

Model
Wuji Hand 2
Category
Dexterous Hand
Product stage
Prototype

Specifications & evidence

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

Active degrees of freedom

20 DOF

Manufacturer specification

Configuration: 2.1 (Beta); Four active joints per finger; non-tactile Beta prototype

产品介绍 - Wuji Docs
结构与自由度 主动自由度 20,每指 4 个

Active degrees of freedom

20 DOF

Manufacturer specification

Configuration: 2.2 (Beta); Four active joints per finger; non-tactile Beta prototype

产品介绍 - Wuji Docs
结构与自由度 主动自由度 20,每指 4 个

Bare hand mass

650 g

Manufacturer specification

Configuration: 2.2 (Beta); Bare hand; distinct from ready-to-use mass

产品介绍 - Wuji Docs
尺寸与重量 自重 (整备质量,含软体与输出线缆,不含底座) 800 g(裸手 650 g,底座 70 g 另计)

Base mass

70 g

Manufacturer specification

Configuration: 2.2 (Beta); Base is counted separately

产品介绍 - Wuji Docs
尺寸与重量 自重 (整备质量,含软体与输出线缆,不含底座) 800 g(裸手 650 g,底座 70 g 另计)

Communication protocol

Ethernet

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer specification for 2.1 (Beta)

产品介绍 - Wuji Docs
通讯协议 Ethernet

Control algorithm

FOC vector control

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer specification for 2.1 (Beta)

产品介绍 - Wuji Docs
控制算法 FOC 矢量控制驱动

Control algorithm

FOC vector control

Manufacturer specification

Configuration: 2.2 (Beta); Manufacturer specification for 2.2 (Beta)

产品介绍 - Wuji Docs
控制算法 FOC 矢量控制驱动

Control frequency

1,000 Hz

Manufacturer specification

Configuration: 2.1 (Beta); Across 20 controlled axes

产品介绍 - Wuji Docs
控制与通信 控制频率 1000 Hz × 20 轴

Control frequency

1,000 Hz

Manufacturer specification

Configuration: 2.2 (Beta); Across 20 controlled axes

产品介绍 - Wuji Docs
控制与通信 控制频率 1000 Hz × 20 轴

Control mode

MIT force-position hybrid control

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer specification for 2.1 (Beta)

产品介绍 - Wuji Docs
控制模式 MIT 力位混合控制

Control mode

MIT force-position hybrid control

Manufacturer specification

Configuration: 2.2 (Beta); Manufacturer specification for 2.2 (Beta)

产品介绍 - Wuji Docs
控制模式 MIT 力位混合控制

Dimensions

180 × 80 × 40 mm

Manufacturer specification

Configuration: 2.1 (Beta); Fingers fully extended and held together

产品介绍 - Wuji Docs
尺寸 180 mm × 80 mm × 40 mm

Dimensions

180 × 80 × 40 mm

Manufacturer specification

Configuration: 2.2 (Beta); Reference dimensions vary with hand pose

产品介绍 - Wuji Docs
尺寸 180 mm × 80 mm × 40 mm(随手姿态变化,为参考值)

Drive type

Backdrivable rotary direct-drive joints

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer specification for 2.1 (Beta)

产品介绍 - Wuji Docs
驱动方式 驱动方式 可反驱旋转直驱关节

Drive type

Backdrivable rotary direct-drive joints

Manufacturer specification

Configuration: 2.2 (Beta); Manufacturer specification for 2.2 (Beta)

产品介绍 - Wuji Docs
驱动方式 驱动方式 可反驱旋转直驱关节

External connectors

XT30 power + RJ45 communication

Manufacturer specification

Configuration: 2.2 (Beta); Current Beta hardware; manufacturer warns future interface may change

产品介绍 - Wuji Docs
对外接口 XT30(电源)+ RJ45(通信)

Finger configuration

Full opposition and lateral finger motion

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer specification for 2.1 (Beta)

产品介绍 - Wuji Docs
抓指构型 可全对指,支持侧摆

Finger configuration

Full opposition and lateral finger motion

Manufacturer specification

Configuration: 2.2 (Beta); Manufacturer specification for 2.2 (Beta)

产品介绍 - Wuji Docs
抓指构型 可全对指,支持侧摆

Four fingers dip range

-60 ~ 90 deg

Manufacturer specification

Configuration: 2.1 (Beta); Same range for index, middle, ring and little fingers; left/right hands are symmetric

产品介绍 - Wuji Docs
DIP 屈伸( dip ) -60° ~ 90°

Four fingers dip range

-60 ~ 90 deg

Manufacturer specification

Configuration: 2.2 (Beta); Same range for index, middle, ring and little fingers; left/right hands are symmetric

产品介绍 - Wuji Docs
d DIP 屈伸( dip ) -60° ~ 90°

Four fingers mcp abd range

-40 ~ 40 deg

Manufacturer specification

Configuration: 2.1 (Beta); Same range for index, middle, ring and little fingers; left/right hands are symmetric

产品介绍 - Wuji Docs
MCP 侧摆( mcp_abd ) -40° ~ 40°

Four fingers mcp abd range

-40 ~ 40 deg

Manufacturer specification

Configuration: 2.2 (Beta); Same range for index, middle, ring and little fingers; left/right hands are symmetric

产品介绍 - Wuji Docs
b MCP 侧摆( mcp_abd ) -40° ~ 40°

Four fingers mcp flex range

-60 ~ 90 deg

Manufacturer specification

Configuration: 2.1 (Beta); Same range for index, middle, ring and little fingers; left/right hands are symmetric

产品介绍 - Wuji Docs
MCP 屈伸( mcp_flex ) -60° ~ 90°

Four fingers mcp flex range

-60 ~ 90 deg

Manufacturer specification

Configuration: 2.2 (Beta); Same range for index, middle, ring and little fingers; left/right hands are symmetric

产品介绍 - Wuji Docs
a MCP 屈伸( mcp_flex ) -60° ~ 90°

Four fingers pip range

-60 ~ 120 deg

Manufacturer specification

Configuration: 2.1 (Beta); Same range for index, middle, ring and little fingers; left/right hands are symmetric

产品介绍 - Wuji Docs
PIP 屈伸( pip ) -60° ~ 120°

Four fingers pip range

-60 ~ 120 deg

Manufacturer specification

Configuration: 2.2 (Beta); Same range for index, middle, ring and little fingers; left/right hands are symmetric

产品介绍 - Wuji Docs
c PIP 屈伸( pip ) -60° ~ 120°

Interface

Ethernet

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer specification for 2.1 (Beta)

产品介绍 - Wuji Docs
通信接口 以太网

Interface

RJ45 Ethernet, 100BASE-TX

Manufacturer specification

Configuration: 2.2 (Beta); Manufacturer specification for 2.2 (Beta)

产品介绍 - Wuji Docs
通信接口 RJ45 以太网,100BASE-TX

Joint backlash

< 1 deg

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer marketing-page Beta1 specification; not applied to Hand 2.2 Beta

Wuji Hand 2 - 舞肌科技
关节回差 < 1°

Joint count

20 joints

Manufacturer specification

Configuration: 2.1 (Beta); Four joints per finger

产品介绍 - Wuji Docs
关节数量 20,每指 4 个

Joint count

20 joints

Manufacturer specification

Configuration: 2.2 (Beta); Four joints per finger

产品介绍 - Wuji Docs
关节数量 20,每指 4 个

Kinematic configuration

Serial rotary direct-drive joints; no nonlinear kinematic relationship

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer specification for 2.1 (Beta)

产品介绍 - Wuji Docs
运动学构型 旋转关节串联直驱,无非线性运动学关系

Kinematic configuration

Serial rotary direct-drive joints; no nonlinear kinematic relationship

Manufacturer specification

Configuration: 2.2 (Beta); Manufacturer specification for 2.2 (Beta)

产品介绍 - Wuji Docs
运动学构型 旋转关节串联直驱,无非线性运动学关系

Mass

800 g

Manufacturer specification

Configuration: 2.1 (Beta); Includes compliant material and output cables; excludes adapter mount and flange

产品介绍 - Wuji Docs
尺寸与重量 自重(含软体与输出线缆,不含转接座及转接法兰) 800 g

Mass

800 g

Manufacturer specification

Configuration: 2.2 (Beta); Includes compliant material and output cables; excludes base

产品介绍 - Wuji Docs
尺寸与重量 自重 (整备质量,含软体与输出线缆,不含底座) 800 g(裸手 650 g,底座 70 g 另计)

Minimum grasp diameter

0 mm

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer specification for 2.1 (Beta)

产品介绍 - Wuji Docs
最小抓握直径 0 mm

Minimum grasp diameter

0 mm

Manufacturer specification

Configuration: 2.2 (Beta); Manufacturer specification for 2.2 (Beta)

产品介绍 - Wuji Docs
最小抓握直径 0 mm

Opening closing rate

≥ 4 cycles/s

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer marketing-page Beta1 specification; not applied to Hand 2.2 Beta

Wuji Hand 2 - 舞肌科技
开合速度 ≥ 4 次/秒

Operating voltage

11–13 V DC

Manufacturer specification

Configuration: 2.2 (Beta); Nominal 12 V

产品介绍 - Wuji Docs
电气性能 工作电压 11–13 V DC(标称 12 V)

Operating voltage

12 V DC

Manufacturer specification

Configuration: 2.1 (Beta); Only 12 V DC; do not infer the wider 2.2 input range

产品介绍 - Wuji Docs
电气性能 工作电压 12 V DC

Peak fingertip force

≥ 12 N

Manufacturer specification

Configuration: 2.1 (Beta); Manufacturer marketing-page Beta1 specification; not applied to Hand 2.2 Beta

Wuji Hand 2 - 舞肌科技
指尖峰值力 ≥ 12 N*

Power adapter

12 V / 20 A

Manufacturer specification

Configuration: 2.2 (Beta); Rated power at least 200 W

产品介绍 - Wuji Docs
电源适配器 标配 12 V 20 A(额定功率不低于 200 W)

Power adapter

12 V / 20 A

Manufacturer specification

Configuration: 2.1 (Beta); Supplied adapter rating; not hand consumption

产品介绍 - Wuji Docs
电源适配器 标配 12 V 20 A

Simulation formats

URDF / MJCF / USD

Manufacturer specification

Configuration: 2.2 (Beta); Fingertip compliant links included; whole-hand compliant model not provided

产品介绍 - Wuji Docs
URDF / MJCF / USD

Simulation formats

URDF / MJCF / USD

Manufacturer specification

Configuration: 2.1 (Beta); Skeletal model only

产品介绍 - Wuji Docs
URDF / MJCF / USD

Skin requirement

Skin must be fitted during operation

Manufacturer specification

Configuration: 2.1 (Beta); Do not operate without passive protective skin

产品介绍 - Wuji Docs
不可脱离皮肤使用灵巧手

Skin requirement

Skin must be fitted during operation

Manufacturer specification

Configuration: 2.2 (Beta); Do not operate without passive protective skin

产品介绍 - Wuji Docs
不可脱离皮肤使用灵巧手

Tactile sensing

Not included

Manufacturer specification

Configuration: 2.1 (Beta); Beta hardware; passive skin is not a tactile sensor

产品介绍 - Wuji Docs
非触觉版样机

Tactile sensing

Not included

Manufacturer specification

Configuration: 2.2 (Beta); Beta hardware; passive skin is not a tactile sensor

产品介绍 - Wuji Docs
非触觉版样机

Thumb cmc abd range

-85 ~ 40 deg

Manufacturer specification

Configuration: 2.1 (Beta); Thumb

产品介绍 - Wuji Docs
掌根侧摆( thumb_cmc_abd ) -85° ~ 40°

Thumb cmc abd range

-85 ~ 40 deg

Manufacturer specification

Configuration: 2.2 (Beta); Thumb

产品介绍 - Wuji Docs
2 掌根侧摆( cmc_abd ) -85° ~ 40°

Thumb cmc flex range

-68 ~ 74 deg

Manufacturer specification

Configuration: 2.1 (Beta); Thumb

产品介绍 - Wuji Docs
掌根展收( thumb_cmc_flex ) -68° ~ 74°

Thumb cmc flex range

-68 ~ 74 deg

Manufacturer specification

Configuration: 2.2 (Beta); Thumb

产品介绍 - Wuji Docs
1 掌根展收( cmc_flex ) -68° ~ 74°

Thumb ip range

-60 ~ 90 deg

Manufacturer specification

Configuration: 2.1 (Beta); Thumb

产品介绍 - Wuji Docs
IP 屈伸( thumb_ip ) -60° ~ 90°

Thumb ip range

-60 ~ 90 deg

Manufacturer specification

Configuration: 2.2 (Beta); Thumb

产品介绍 - Wuji Docs
4 IP 屈伸( ip ) -60° ~ 90°

Thumb mcp range

-60 ~ 90 deg

Manufacturer specification

Configuration: 2.1 (Beta); Thumb

产品介绍 - Wuji Docs
MCP 屈伸( thumb_mcp ) -60° ~ 90°

Thumb mcp range

-60 ~ 90 deg

Manufacturer specification

Configuration: 2.2 (Beta); Thumb

产品介绍 - Wuji Docs
3 MCP 屈伸( mcp ) -60° ~ 90°

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