Description Unitree H2 Dex5-1 Five Finger Hand

Active degrees of freedom: 16
Thumb x 4, Index finger x 3, Middle finger x 3, Ring finger x 3, Little finger x 3"
Transmission mechanism:
12 proprietary micro force-controlled composite transmission joints (enabling tactile-free robot body perception), 4 micro force-controlled joint gear transmissions"
Joint angles:
Thumb joint:
Thumb Joint 0: -33.5° to 39°
Thumb Joint 1: 0° to 100°
Thumb Joint 2: 0° to 110°
Thumb Joint 3: 0° to 92°
Four Fingers Joints:
Finger Joint 0: -22° to 22°
Finger Joint 1: 0° to 90°
Finger Joint 2: 0° to 95°
Finger Joint 3: 0°~81° (coupled with Finger Joint 2)"
Four-Finger Lateral Swing: ±22°
Minimum Grasping Diameter: 10mm
Fingertip Repeatability: ±1mm
Fingertip Force: 10N
Operating Voltage: 24V~60V
Quiescent Current: 58V@0.2A
Maximum Current: 58V@3A
Communication Interface: USB 2.0
Operating Temperature Range: -20°C ~ 60°C
Load Capacity (Ambient Temperature, Palm Down, Gripping 5cm Circular Rigid Object): Maximum Weight 3.5kg
Load Capacity (Ambient Temperature, Palm Left, Gripping 5cm Circular Rigid Object) [2]: Maximum Weight 4.5kg
Communication Rate: 1000Hz
"Total Packet Byte Count:
Transmitter: 1234 bytes
Receiver: 1270 bytes"
Sensor Feedback: Joint Mode, Joint Position, Joint Velocity, Joint Torque, Joint Temperature, Voltage/Current, IMU Data