Twenty-two degrees of freedom, tendon-driven, with a silicone fingertip pad that reads pressure and shear in real time. Strong enough to carry; soft enough to never pinch.
Four long fingers and a shorter opposable thumb — the chimpanzee precision-grip pattern. Phalanges are machined aluminium with carbon-fibre tendons routed through PTFE sheaths to the forearm, where 22 brushless micro-actuators sit out of the way of the impact envelope.
Each fingertip carries a 6 × 6 array of capacitive tactels under a 2 mm silicone pad, plus a 3-axis MEMS force cell at the bone. The control loop resolves both normal pressure and incipient slip — the moment an object starts to slide, grip force rises before the object falls.
Spatial resolution is 1.2 mm; refresh is 2 kHz.
Three firmware modes:
