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| RH56F1 Series · Humanoid Five-Finger Dexterous Hand | ||
| RH56F1-E2 (EtherCAT+RS485) | ||
| Parameter | RH56F1-E2R-T1 (Right-hand model) RH56F1-E2L-T1 (Left-hand model) | RH56F1-E2R (Right-hand model) RH56F1-E2L (Left-hand model) |
| Control Interface | EtherCAT+RS485 | EtherCAT+RS485 |
| Degrees of Freedom (DOF) | 6 | 6 |
| Number of Joints | 12 | 12 |
| Weight | 630±10g | 615±10g |
| Operating Voltage | 24V~60V | 24V~60V |
| Static Current | RS485：150±10mA（24V） EtherCAT：160±10mA（24V） | RS485: 150±10mA (24V) EtherCAT: 160±10mA (24V) |
| Maximum Current | 5A @24V | 5A @24V |
| Fingertip Repeatability | ±0.2mm | ±0.2mm |
| Thumb Fingertip Grip Force | ≥15N | ≥15N |
| Four-Finger Fingertip Grip Force | ≥10N | ≥10N |
| Grip Force Resolution | 0.1N | 0.1N |
| Thumb Abduction Range | 60~180° | 60~180° |
| Thumb Abduction Speed | >155°/s | >155°/s |
| Thumb Flexion Speed | >37°/s | >37°/s |
| Four-Finger Flexion Speed | >107°/s | >107°/s |
| Tactile Sensor Range | 30N | / |
| Tactile Sensor Accuracy | 5%FS | / |
| Number of Tactile Sensors | 8 | / |
| Palm Closing Time | ≤0.8s | ≤0.8s |
| RH56F1-E4 (EtherCAT+CAN FD) | ||
| Parameter | RH56F1-E4R-T1 (Right-hand model) RH56F1-E4L-T1 (Left-hand model) | RH56F1-E4R (Right-hand model) RH56F1-E4L (Left-hand model) |
| Control Interface | EtherCAT+CAN FD | EtherCAT+CAN FD |
| Degrees of Freedom (DOF) | 6 | 6 |
| Number of Joints | 12 | 12 |
| Weight | 630±10g | 615±10g |
| Operating Voltage | 24V~60V | 24V~60V |
| Static Current | CAN FD：150±10mA（24V） EtherCAT：160±10mA（24V） | CAN FD: 140±10mA (24V) EtherCAT: 150±10mA (24V) |
| Maximum Current | 5A @24V | 5A @24V |
| Fingertip Repeatability | ±0.2mm | ±0.2mm |
| Thumb Fingertip Grip Force | ≥15N | ≥15N |
| Four-Finger Fingertip Grip Force | ≥10N | ≥10N |
| Grip Force Resolution | 0.1N | 0.1N |
| Thumb Abduction Range | 60~180° | 60~180° |
| Thumb Abduction Speed | >155°/s | >155°/s |
| Thumb Flexion Speed | >37°/s | >37°/s |
| Four-Finger Flexion Speed | >107°/s | >107°/s |
| Tactile Sensor Range | 30N | / |
| Tactile Sensor Accuracy | 5%FS | / |
| Number of Tactile Sensors | 8 | / |
| Palm Closing Time | ≤0.8s | ≤0.8s |
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