Specifications

Prime Hand structure, performance, electrical interfaces, joint ranges, tactile sensing, and environmental specifications.

General

Parameter	VALUE
Degrees of Freedom	22 DOF (actively actuated) 4 DOF per digit × 5 digits + 2 wrist DOF
Palm Dimensions	Palm: 18.5 × 8 × 4.5 cm
Forearm Dimensions	Complete hand assembly: 43 × 8.5 × 8.2 cm
Weight	Palm: approx. 300 g; complete hand assembly: approx. 2 kg

Performance

Parameter	VALUE
Maximum Fingertip Force	50N
Maximum Grasping Payload	＞40KG
Fingertip Positioning Repeatability	0.05mm
Joint Positioning Repeatability	0.1°
Maximum Opening/Closing Speed	1.5 s/cycle
Backdrive Torque	＜0.05N

Electrical & Communication

Category	Parameter	VALUE
Electrical Specifications	Operating Voltage	36–60 V (nominal: 48 V)
	No-load Current	0.5A
	Standby Current	0.3A
Control and Communication	Control Frequency	200Hz
	Control Mode	Joint-level MIT Control Mode
	Communication Interface	RJ45 Ethernet

Range of Motion

1. Flexion–Extension
   • Positive angle: toward the palm (flexion).
   • Negative angle: toward the back of the hand (extension).
2. Abduction–Adduction
   • Fingers: positive angle toward the thumb side; negative angle toward the little-finger side.
   • Thumb: positive angle toward the palm (flexion); negative angle toward the back of the hand (extension).
3. Wrist Motion
   • WR1: positive angle toward the palm (wrist flexion); negative angle toward the back of the hand (wrist extension).
   • WR2: positive angle toward the thumb side; negative angle toward the little-finger side.

Degrees of freedom: 22 actuated DOF (including the wrist)

	Fingers	Thumb	Wrist
DIP — Flexion/Extension	-5° to +75°	-25° to +80°
PIP — Flexion/Extension	-5 to +105°	-30° to +75°
MCP1 — Flexion/Extension	-35° to +95°	-35° to +50°
MCP2 — Abduction/Adduction	F2: -30° to +40° F3: -40° to +35° F4:-40° to +30° F5:-40° to +30°	-25° to +45°
WR1			-70° to 70°
WR2			-45° to 45°

Tactile Sensors

Parameter	VALUE
Data Update Rate	100Hz
Activation Force	0.2N
Measurement Range	20N/cm²
Overload Protection	40N/cm²
Force Resolution	0.05N
Accuracy	10% F.S.
Repeatability	5% F.S.
Localization Accuracy	0.5mm
Minimum Resolution	0.5mm
Spatial Resolution	8*16*0.5mm 8*4*0.5mm 8*12*0.5mm
Compression Cycle Life	1,000,000 cycles
Abrasion Cycle Life	1,000,000 cycles

Environmental & Reliability

Parameter	VALUE
Operating Temperature	0°C to 60°C
IP Rating	IP20
Humidity	< 60% RH
Nominal Lifetime	>200,000 cycles (no load)
Tactile Sensor Lifetime	>1,000,000 cycles @20N

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Source: Specifications. Synced source revision: 1700.