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| RH5DG2 Series · Humanoid Five-Finger Dexterous Hand | ||
| RH5DG2-E4 (EtherCAT+CAN FD / EtherCAT+RS485) | ||
| Parameter | RH5DG2-E4R-T1 (Right-hand model) | RH5DG2-E4L-T1 (Left-hand model) |
| Control Interface | EtherCAT+CAN FD | EtherCAT+RS485 |
| Degrees of Freedom (DOF) | 13 | 13 |
| Number of Joints | 18 | 18 |
| Weight | 1020±15g（不含手腕） | 1020±15g (excluding wrist) |
| Operating Voltage | 18-60V | 18-60V |
| Static Current | 310±20mA（24V） | 310±20mA (24V) |
| Maximum Current | 7.5A @24V | 7.5A @24V |
| Fingertip Repeatability | ±0.2mm | ±0.2mm |
| Thumb Fingertip Grip Force | ≥20N | ≥20N |
| Four-Finger Fingertip Grip Force | ≥10N | ≥10N |
| Grip Force Resolution | 0.1N | 0.1N |
| Thumb Abduction Range | 65°~175° | 65°~175° |
| Index & Middle Finger Abduction Angle | ±15° | ±15° |
| Fingertip Passive Load | 8kg | 8kg |
| Tactile Sensor Range | 30N | 30N |
| Tactile Sensor Accuracy | 5%FS | 5%FS |
| Number of Tactile Sensors | 8 | 8 |
| Palm Closing Time | ≤0.8s | ≤0.8s |
| RH5DG2-E2 (EtherCAT+RS485) | ||
| Parameter | RH5DG2-E2R-T1 (Right-hand model) | RH5DG2-E2L-T1 (Left-hand model) |
| Control Interface | EtherCAT+RS485 | EtherCAT+RS485 |
| Degrees of Freedom (DOF) | 13 | 13 |
| Number of Joints | 18 | 18 |
| Weight | 1020±15g（不含手腕） | 1020±15g (excluding wrist) |
| Operating Voltage | 18-60V | 18-60V |
| Static Current | 310±20mA（24V） | 310±20mA (24V) |
| Maximum Current | 7.5A @24V | 7.5A @24V |
| Fingertip Repeatability | ±0.2mm | ±0.2mm |
| Thumb Fingertip Grip Force | ≥20N | ≥20N |
| Four-Finger Fingertip Grip Force | ≥10N | ≥10N |
| Grip Force Resolution | 0.1N | 0.1N |
| Thumb Abduction Range | 65°~175° | 65°~175° |
| Index & Middle Finger Abduction Angle | ±15° | ±15° |
| Fingertip Passive Load | 8kg | 8kg |
| Tactile Sensor Range | 30N | 30N |
| Tactile Sensor Accuracy | 5%FS | 5%FS |
| Number of Tactile Sensors | 8 | 8 |
| Palm Closing Time | ≤0.8s | ≤0.8s |
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