# ProHand 1.0

Precise Enough to Thread. Tough Enough to Survive.

## See it in action

ProHand 1.0 — dexterous manipulation in motion.

## ProHand 1.0

Featuring advanced tactile feedback and real-time adaptation capabilities.

- ✓Full hand tactile sensing
- ✓Dexterous grasping
- ✓Impact resilience
- ✓Compliant, back drivable

### Precision pinch

- Top pinch pencil
- Top pinch allen key blue
- Top pinch cable

### In-hand

- Orange
- Kapanji

### Delicate

- Poking balloon
- Needle

### Tool use

- Uncap
- Tool wire cutter

### Manipulation

- Match lighting
- Pick in bag
- Autonomous Egg Picking

## Grasp gallery

From a 35 lb dumbbell to a single pencil — the same hand, every grip.

## Core Technologies & Specifications

Our comprehensive approach to achieving human-like dexterity in robotic systems

### 01 Structure & Kinematics

A tendon-driven, biomimetic structure at human scale — five fingers and an articulated 2-DoF wrist combine for 22 DoF (18 actuated) that reproduce natural hand motion.

- 0122 total DoF, with 18 actuated degrees of freedom
- 02Tendon-driven fingers — 4 joints each (abduction + MCP / PIP / DIP)
- 03Per-joint finger flexion to ~90°, with slight hyperextension
- 04Opposable thumb with ~120° of rotation
- 052-DoF wrist — flexion/extension (−30°…+65°) and ±30° deviation

### 02 Control System

On-board control for real-time, stable motion — hybrid position control with velocity and current saturation, solved directly on the hand.

- 0110 ms real-time response
- 0250 Hz hybrid position control (velocity + current saturation)
- 03On-board 50 Hz joint-position solver
- 04Automatic per-finger calibration routine

### 03 Proprioceptive Sensing

Every actuator reports its full state continuously, fused with a forearm IMU for accurate, drift-corrected pose estimation.

- 01Per-actuator voltage / position / velocity / current / temperature @ 50 Hz
- 02Forearm IMU with quaternion pose @ 100 Hz
- 03Closed-loop kHz PID at the actuator level
- 04On-board current and power sampling @ 10Hz

### 04 Tactile & Teleoperation Glove

A wearable glove for intuitive, high-fidelity teleoperation and data collection, with dense tactile sensing across the fingertips and palm.

- 01Glove IMU with quaternion pose @ 500 Hz
- 02Tactile sensing: 11.7 mN/ADC resolution, 0.1–125 N range
- 03Low-latency taxel sensing @ 500 Hz
- 04Total 96 Taxels on palm-side fingers and palm

### 05 Vision & Perception

An integrated wrist camera with a wide fish-eye field of view and a global shutter for crisp, motion-free capture during manipulation.

- 01160° diagonal fish-eye FOV (changeable lens)
- 02Global-shutter sensor, 60 FPS (1600×1200) / 90 FPS (1280x720)
- 03Manual Exposure / Auto Exposure / anti-flicker
- 04Driverless USB 2.0 — Linux out of the box

### 06 Connectivity & Compute

Plug-and-play integration — one driverless USB connection and an open, memory-safe software stack to bring the hand into any system.

- 01Single USB 2.0 hub — hand · glove · camera (+1 device on request)
- 02On-board real-time compute
- 03ZMQ + Cap’n Proto IPC driver (Realtime IPC / Remote over TCP)
- 04Python & C++ Client SDKs
- 05Memory-safe Rust — FW · driver · GUI

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**Weight**: 2.6 kg  
**Finger Tip Force**: 29.1 N  
**Grip Payload**: 43.3 lbs  
**Degrees of Freedom**: 21 DOF  
**Finger Tip Repeatability**: 0.7 mm  
**Total Taxel Count**: 88 px  
**Min Voltage**: 24 V  
**Max Voltage**: 55 V  
**Joint Control Rate**: 41 Hz  
**Tactile Response Rate**: 385 FPS  
**Tactile Resolution**: 3.0 N  
**Tactile Saturation**: 74 N