ROH-A002 is OYMotion's anthropomorphic robotic end effector with five independently moving fingers, six active degrees of freedom and 11 moving joints. Integrated motor drivers and PID control support programmable pinching, grasping and gestures. The official page lists a 580 ±5 g mass, ±1 mm repeatability and UART, RS485 and CAN interfaces, alongside SDK, ROS, ROS2 and URDF support. Intended uses include humanoids, inspection robots and research equipment. The manufacturer's static finger-load and bent-finger lifting figures describe specific test conditions rather than unrestricted active gripping capability.
Model
ROH-A002
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: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
The ROHAND dexterous hand has a total of 11 motion joints, with 6 built-in motor drivers and the motor control circuit. With 6 active degrees of freedom, and a built-in PID motor control algorithm, the hand can mimic the human hand to achieve a variety of grasping grips. Typical applications include robot end effectors, educational and scientific research equipment, bionic prosthetics, etc. ROH-A002 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: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Bending/stretching time for full range at maximum speed 0.7 second
Communication interface
UART, RS485, CAN
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
The ROHAND dexterous hand has a total of 11 motion joints, with 6 built-in motor drivers and the motor control circuit. With 6 active degrees of freedom, and a built-in PID motor control algorithm, the hand can mimic the human hand to achieve a variety of grasping grips. Typical applications include robot end effectors, educational and scientific research equipment, bionic prosthetics, etc. ROH-A002 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: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
The ROHAND dexterous hand has a total of 11 motion joints, with 6 built-in motor drivers and the motor control circuit. With 6 active degrees of freedom, and a built-in PID motor control algorithm, the hand can mimic the human hand to achieve a variety of grasping grips. Typical applications include robot end effectors, educational and scientific research equipment, bionic prosthetics, etc. ROH-A002 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: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Design service life-span 3 years
Fingertip force bent
≧1.0 Kgf
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Active force of each fingertip on bended state ≧1.0 Kgf
Fingertip force straight
≧0.5 Kgf
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Active force of each fingertip on stretched state ≧0.5 Kgf
Height
183 mm
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Vertical distance from the tip of the middle finger to the wrist 183mm
Joint count
11
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
The ROHAND dexterous hand has a total of 11 motion joints, with 6 built-in motor drivers and the motor control circuit. With 6 active degrees of freedom, and a built-in PID motor control algorithm, the hand can mimic the human hand to achieve a variety of grasping grips. Typical applications include robot end effectors, educational and scientific research equipment, bionic prosthetics, etc. ROH-A002 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
580g±5g
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
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: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
ROH-A002 dexterous hand adopts RS485: DC 12-24V, CAN: DC 12-48V power supply, rated power 48W.
Operating voltage
12–24 V DC
Manufacturer specification
Configuration: RS485 interface; Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
ROH-A002 dexterous hand adopts RS485: DC 12-24V, CAN: DC 12-48V power supply, rated power 48W.
Palm width
83 mm
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Maximum palm width 83 mm
Passive finger payload bent
10 Kg
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Maximum passive load for each finger on bended state 10 Kg
Passive finger payload straight
8 Kg
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Maximum passive load for each finger on stretched state 8 Kg
Passive four finger payload bent
30 Kg
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Maximum passive load for four fingers on bended state 30 Kg
Rated power
48 W
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
ROH-A002 dexterous hand adopts RS485: DC 12-24V, CAN: DC 12-48V power supply, rated power 48W.
Sdk support
ROS / ROS2 development SDK
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
The ROHAND dexterous hand has a total of 11 motion joints, with 6 built-in motor drivers and the motor control circuit. With 6 active degrees of freedom, and a built-in PID motor control algorithm, the hand can mimic the human hand to achieve a variety of grasping grips. Typical applications include robot end effectors, educational and scientific research equipment, bionic prosthetics, etc. ROH-A002 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: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Maximum active force of thumb tip ≧1.0 Kgf
Thumb flexion angle
0~50 Degrees
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Maximum opening and closing angle of thumb to palm 0~50 Degrees
Thumb lateral rotation
0~90 Degrees
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Thumb lateral rotation angle 0~90 Degrees
Thumb length
113 mm
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Thumb length 113 mm
Thumb rotation time
0.7 second
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Rotation time of thumb for full range at maximum speed 0.7 second
Thumb side angle
0~31 Degrees
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Maximum opening and closing angle of the thumb side 0~31 Degrees
Thumb tip to wrist
95 mm
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Vertical distance from thumb tip to wrist 95 mm
Wrist diameter
49 mm
Manufacturer specification
Manual version: V1.1.5; Measurement scope: As specified for this exact model in its current official manual
oy-ROH-A002
Wrist diameter 49 mm
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