Shadow Dexterous Hand

The Shadow Dexterous Hand is the only robotic hand on the market with 24 degrees of movement and 20 degrees of freedom (DOF), offering enhanced flexibility for grasping and manipulating various objects. Each finger can move independently, resulting in unparalleled dexterity. The hand features a total of 129 sensors, enhancing precision and accuracy. It has long been a popular research tool for universities and businesses and has recently found applications in the field of artificial intelligence and machine learning (winning the AIconics Award for Best AI Hardware Innovation in 2019). It is a key component of teleoperation solutions aimed at replacing human operators in hazardous situations, such as nuclear reactor decommissioning and bomb disposal. The revolutionary capabilities of the Shadow Hand earned Shadow Robot the prestigious Queen's Award for Enterprise for Best Innovation in 2019.

The Shadow Dexterous Hand is a self-contained system, with all control and sensors integrated into the hand and forearm.

The Shadow Dexterous Hand Development Kit includes:

• Control systems
• Software (provided under GNU GPL or BSD as needed)
• ROS compatibility
• PC
• Power supplies
• Tactile sensing
• Additional devices (if required)
• Documentation and training

Features

• HUMAN KINEMATICS: Emulating the kinematics of the human hand was the top priority in developing the Dexterous Hand. With 20 actuated degrees of freedom and an additional 4 passive movements, it has a total of 24 joints. Each joint has a range of motion similar to that of a human hand, including the thumb and even the palm flexion for the little finger.
• HUMAN-SIZED: The Shadow Dexterous Hand is a marvel of miniaturization. It features highly sensitive fingertips, absolute position sensors for each joint, and a control board on the palm, allowing system expansion through add-ons. This greatly extends its versatility, such as wearing standard gloves for protection during specific tasks.
• HIGH SENSOR BANDWIDTH: With a total of 129 sensors, the hand provides detailed telemetry data, which can be used for developing innovative manipulation control systems or gaining a detailed understanding of the surrounding environment. In addition to absolute position sensing for each joint, the hand also includes force sensing for each actuator, tactile sensing on the fingertips, temperature sensing, and motor current and voltage sensing. All of this data is available to the user through a high-bandwidth EtherCAT interface, ranging from 100 Hz to 1 kHz. This high data frequency is supported by the hand's rapid movement, transitioning from open to closed in 0.5 seconds.
• OPEN PLATFORM: The hand is fully integrated into ROS, and documentation is available. Users can download a virtual model of the hand in ROS for immediate use. Hand control, including position control algorithms, can be modified by the user within ROS. The hand's firmware itself can be provided for modifications.

Specifications:

• Degrees of Freedom: 20 actuated DOF and 4 additional passive movements for a total of 24 joints
• Total Weight: 4.3 kg
• Number of Fingers: 4+1 (thumb)
• Number of Actuators: 20 DC motors