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High Precision 21-DoF Natural Human Hand Grasping Dexterous Hand

  • High Precision 21-DoF Natural Human Hand Grasping Dexterous Hand

●  Introduction

HONPINE L20 is a 21-DoF dexterous hand that accurately simulates natural human hand grasping with delicate operations. It adopts innovative linkage transmission and self-developed motors for high-precision movement, and supports force, vision, and tactile sensors—enhancing environmental adaptability and intelligent interaction via multi-modal perception. With high DoFs, multi-modal perception, and force-position hybrid algorithms, it is widely used in education & research, industrial automation, household assistance, and elderly care—providing precise, dexterous operation solutions.
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Features 

●Highly Bionic DoFs & Fine Operations

21 DoFs (16 active + 5 passive) mimic human hand movements and

grasping to meet complex, fine operation requirements.


●Multi-Modal Perception & Intelligent Interaction

Configurable with force and electronic skin sensors to accurately detect

contact force, object shape, and close-range images—boosting

environmental adaptability and interaction intelligence.


●Edge-Cloud Integration & No-Code Deployment

One-click skill deployment from cloud libraries via edge-cloud

architecture, lowering thresholds and improving efficiency.


●High Reliability & Data Support

Robust structure resists impact, adapting to high-intensity training and

industrial scenarios. It supports self-developed data collection for data

farm construction and algorithm optimization.

Robot Hand Interfaces 

●Supported Robotic Arms: UR, Franka, XArm, RealMan, Songling
●Supported Data Acquisition Methods: teleoperation gloves, exoskeleton gloves, liquid metal gloves, vision, VR (Meta Quest 3)
●Supported Simulators: PyBullet, Isaac, MuJoCo
●Supported Interfaces: CAN, 485
●Example Applications: ROS1, ROS2, Python, C++

Specification

Sheet 1

Degrees of Freedom16
Number of Joints21 (16 active + 5 passive)
Transmission TypeLinkage drive
Control InterfaceCAN/RS485
Communication Rate600kbps
Weight1100g
Maximum Load10kg
Operating VoltageDC24V±10%
Static Current0.2A
Average No-load Operating Current1A
Maximum Current3A
Repeat Positioning Accuracy±0.2mm
Opening/Closing Time1.2s
Maximum Thumb Tip Force18N
Maximum Four-Finger Tip Force20N
Maximum Five-Finger Gripping Force100N

Communication Methods 

●CAN Interface

Utilizes a proprietary protocol; baud rate is 1Mbps; default device IDs: left hand 0x28, right hand 0x27; supports broadcast ID 0x7FF (for addressing, identification, and debugging).


●RS485 Interface

Adopts the Modbus protocol; baud rate is 256000bps; default device IDs: left hand 0x28, right hand 0x27; supports function codes: 03/04/06/16; UART settings are fixed: 8 data bits, 1 stop bit, no parity