Refined structure, sensitive perception and stable manipulation
| Model | RH56F1‑E2R‑T1 (Right hand model)RH56F1‑E2L‑T1 (Left hand model) | RH56F1‑E2R (Right hand model)RH56F1‑E2L (Left hand model) |
| Control interface | EtherCAT+RS485 | EtherCAT+RS485 |
| Degrees of freedom | 6 | 6 |
| Numbers of joints | 12 | 12 |
| Weight | 630±10g | 615±10g |
| Operating voltage | 24V~48V | 24V~48V |
| Quiescent current | RS485: 194±10mA @24VEtherCAT: 10±10mA @24V | RS485: 194±10mA@24VEtherCAT: 10±10mA @24V |
| Peak current | 5A @24V | 5A @24V |
| Repeatability | ±0.2mm | ±0.2mm |
| Thumb Fingertip Strength | ≥15N | ≥15N |
| Fingertip Strength | ≥10N | ≥10N |
| Force resolution | 0.1N | 0.1N |
| Lateral rotation range of thumb | 60‑180° | 60‑180° |
| Lateral rotation speed of thumb | >155°/s | >155°/s |
| Flexion speed of thumb | >37°/s | >37°/s |
| Flexion speed of four finger | >107°/s | >107°/s |
| Range of tactile sensor | 30N | / |
| Tactile sensor accuracy | 5%FS | / |
| Number of tactile sensors | 8 | / |
| Hand closing time | ≤0.8s | ≤0.8s |
| Model | RH56F1‑E4R‑T1 (Right hand model)RH56F1‑E4L‑T1 (Left hand model) | RH56F1‑E4R (Right hand model)RH56F1‑E4L (Left hand model) |
| Control interface | EtherCAT+CAN FD | EtherCAT+CAN FD |
| Degrees of freedom | 6 | 6 |
| Numbers of joints | 12 | 12 |
| Weight | 630±10g | 615±10g |
| Operating voltage | 24V‑48V | 24V‑48V |
| Quiescent current | CAN FD: 193±10mA@24VEtherCAT: 206±10mA @24V | CAN FD: 193±10mA@24VEtherCAT: 206±10mA@24V |
| Peak current | 5A @24V | 5A @24V |
| Repeatability | ±0.2mm | ±0.2mm |
| Thumb Fingertip Strength | ≥15N | ≥15N |
| Fingertip Strength | ≥10N | ≥10N |
| Force resolution | 0.1N | 0.1N |
| Lateral rotation range of thumb | 60‑180° | 60‑180° |
| Lateral rotation speed of thumb | >155°/s | >155°/s |
| Flexion speed of thumb | >37°/s | >37°/s |
| Flexion speed of four finger | >107°/s | >107°/s |
| Range of tactile sensor | 30N | / |
| Tactile sensor accuracy | 5%FS | / |
| Number of tactile sensors | 8 | / |
| Hand closing time | ≤0.8s | ≤0.8s |
