14-DOF humanoid five-finger dexterous hand (link motor drive, 5 power sources, closed-loop force control, 1:1 human hand bionics)

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I. Key Highlights at a Glance

This dexterous hand is based on a 1:1 human hand bionic design. Through an innovative solution of "5 linkage drive motors + 14 degrees of freedom," it achieves dexterity and precise control comparable to a real human hand, making it a core interactive terminal for embodied intelligence, humanoid robots, and precision industrial operations.

Bionic real hand scanning and modeling, force control, current detection, and gesture recording and saving.

Built-in motors and control board—just plug it in and it's ready to use!

Core Parameters

Degrees of Freedom: 14-DOF (five-finger full-joint bionic design)

Drive Scheme: 5-link servo motors (built into the palm, no exposed motors)

Control Method: Closed-loop force control + position/speed dual mode

Typical Load: Maximum fingertip gripping force 10N, total hand load 5kg

Repeat Positioning Accuracy: ±0.1mm

Weight: Lightweight design (approximately 500-700g, humanoid robot-compatible)

Response Speed: Joint response ≤10ms, maximum finger joint movement speed 180°/s

II. Core Technology Analysis

1. 14-DOF Bionic Joint Design

• Perfectly replicates human hand movement logic, achieving human-level fine movements:
• Thumb: 4 degrees of freedom (abduction/adduction + flexion/extension), enabling key movements such as pinching and side gripping.
• Index Finger/Middle Finger/Ring Finger/Little Finger: 2.5 each Degrees of freedom (including lateral joints) support independent control and coordinated movement.
• Full joint coverage includes over 50 human hand movements such as pinching, gripping, grasping, twisting, and pressing, from picking up eggs and glasses to shaking hands and grabbing tools, with maximum motion reproduction.

2. 5-Link Motor Drive Solution

• Unlike traditional external drive motor solutions, this solution employs a palm-integrated linkage transmission design:
• Five miniature servo motors are integrated inside the palm, driving 14 joints through precision linkage transmission. The design closely resembles a real hand, with no exposed motors disrupting the biomimetic form.
• High transmission efficiency, low noise, and support for reverse drive eliminate any stiffness or jerking sensation, resulting in smoother and safer contact with objects.
• The centralized motor layout significantly reduces finger weight, improving overall load capacity and movement stability.

3. Closed-Loop Force Control System for Precise Contact Sensing

• Built-in closed-loop control algorithm enables "force-position dual closed-loop" control:
• A force feedback module in the fingertip can sense minute contact forces as low as 0.1N, allowing for effortless handling of fragile items like eggs without breaking them and water cups without slipping. Precision Manipulation of Smooth Objects
• Supports compliant interaction in force control mode, providing a gentle and natural handshake, significantly improving the safety and naturalness of human-computer interaction.
• Built-in position sensors provide real-time joint angle feedback, with motion control error ≤±1°, ensuring accurate reproduction of complex movements.

III. Application Scenarios

Humanoid Robots / Embodied Intelligence: As the end effector of humanoid robots, it enables natural interaction with the real world, suitable for scenarios such as home services, commercial displays, and scientific research experiments.

Industrial Precision Assembly: Can replace manual labor in high-precision, highly repetitive tasks such as assembling small parts and sorting fragile items, reducing human error.

Scientific Research and Teaching Platform: Supports ROS/SDK secondary development, making it an ideal platform for universities and research institutes to conduct robot control and force/tactile research.

Bionic Prosthetics / Rehabilitation Field: High biomimicry and compliant force control provide realistic motion feedback and interactive experience for prosthetic development and rehabilitation training.

IV. Technical Specifications

Drive Motors: 5 miniature hollow cup servo motors (with built-in linkage transmission)

Joint Degrees of Freedom: 14 Active Degrees of Freedom

Fingertip Grip Force: 10N (rated), maximum support 15N

Repeat Positioning Accuracy: ±0.1mm

Response Time: Joint response ≤10ms

Control Methods: Closed-loop force control, position control, speed control (switching supported)

Communication Interface: Supports CAN/RS485/Ethernet (optional)

Operating Voltage: 24V DC (humanoid robot adaptation standard)

Operating Temperature: 0℃~45℃

Protection Rating: IP40 (indoor scene adaptation)

Supports ROS/SDK development with open interfaces, providing control protocols and development documentation