Tesollo Delto DG-5F-M

설명

The DG-5F-M is Tesollo's fully actuated five-finger anthropomorphic hand, with 20 degrees of freedom — four per finger — and high-torque actuation for human-like manipulation. What separates it from most multi-finger grippers is that every one of those 20 joints has its own integrated actuator, so there is no mechanical coupling between joints. Each finger can be driven independently, which is what makes in-hand manipulation and tool use possible rather than just grasping. Coordinated multi-finger control handles objects of varying shape and size, and it will hold 10 kg rated in an enveloping grasp, or 2.5 kg rated in a pinch. It runs at 250 Hz over Modbus or Ethernet with absolute encoders on every joint. Optional fingertip sensing adds 6-axis force/torque, 3-axis force or tactile feedback, and suction-type fingertips and a short-wrist version are available. Tesollo positions it for humanoid research, in-hand manipulation and precision assembly.

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