Scheduled to launch in 2025

End Effector

Torobo Hand

Torobo

Torobo Hand is a human hand-sized dexterous multi-fingered robotic hand. Offering both dexterity and strength, the hand is ideal for grasping and dexterous object manipulation for a variety of real-world tasks.

Joint configuration that enables dexterous object manipulation

The hand has a joint configuration identical to that of a human hand. This configuration provides sufficient dexterity to replicate key functions of the human hand, enabling not only stable grasping but also dexterous in-hand manipulation. In addition, its size is close to a human-hand and has sufficient output to perform real-world tasks.

Torque control at each joint

Each joint is driven by a backdrivable torque-controlled actuator. By setting torque limits, the fingers can easily adapt to various shapes without prior knowledge, achieving stable grasping.

Rich tactile feedback from integrated pressure sensors

Distributed pressure sensors are integrated across the finger and palm, with nearly 200 sensing points in total. This rich tactile feedback is collected in real time, making the hand an ideal platform for applied machine learning research.

ROS compatible

The hand's compatibility with ROS makes it easy to integrate with other robots, sensors, and software. It can be used with Torobo, or with other third-party robot arms using our external controller.

Specification Details
Joints 12 actuated joints + 4 coupled joints
Thumb: 4 actuated joints
Index, Middle finger: 3 actuated joints+ 1 coupled joint
Ring finger: 2 actuated joints + 2coupled joints
Sensors 12x 13-bit absolute encoder for joint position measurement at each actuated joint
197x Pressure Sensor (42 points in each finger, 38 points in the thumb, 33 points in the palm)
Grasp force Approx. 10N at each fingertip
Weight Approx. 2 kg
Power supply 24VDC
Torobo Hand
TokyoRobotics

Software

Torobo Hand's software provides basic functions required to fully utilize the dexterity of a multi-fingered hand. It is based on ROS, offering state visualization in Rviz, trajectory planning, and logging of sensor data (joint angle, joint torque, tactile information, etc.). Integration with other ROS-compatible sensors, robots, and software can be done with ease.

Torobo