Robotic Hands
The dexterous hands behind the humanoids — compared spec-for-spec on fingers, degrees of freedom, grip force, weight, tactile sensing and price.
67
Robotic hands
40
Makers
50
With tactile
| # | Hand | Released ▼ | Fingers | DoF | Actuation | Grip | Weight | Tactile | ROS2 | Price | Notes |
|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | 2026-09 | 5 | 22 | — | — | — | — | — | $6.5k | Human-sized 22-DoF hand where every joint is motor-driven and backdrivable with impact torque limits | |
| 2 | 2026-06 | 5 | 20 | Direct-drive | — | 630 g | ✓ | ✓ | — | Direct-drive research hand with vision-based fingertip tactile sensing | |
| 3 | 2026-06 | 5 | — | — | — | — | ✓ | — | — | Upgraded XHAND with backdrivable quasi-direct-drive joints and full-hand tactile sensing for teleoperation | |
| 4 | 2026-05 | 5 | 20 | Direct-drive | — | — | ✓ | ✓ | — | Backdrivable direct-drive 20-DoF hand with fingertip force sensing and 1 kHz control on all joints | |
| 5 | 2026-04 | 5 | 25 (22 act.) | Tendon | — | 500 g | ✓ | — | — | Tendon-driven flagship hand with quick-swap tendons and palm camera | |
| 6 | 2026-04 | — | — | — | — | — | — | — | — | Compact rugged hand built to survive humanoid falls | |
| 7 | 2026-03 | 5 | 17 | TendonOSS | — | — | — | — | $3.5k | Open-source tendon-driven anthropomorphic hand for manipulation research | |
| 8 | 2026-03 | 5 | 17 | TendonOSS | — | — | ✓ | — | $6.1k | Open-source tendon-driven anthropomorphic hand with tactile fingertips | |
| 9 | 2026-03 | 5 | 9 | TendonOSS | — | — | — | — | $1.5k | Low-cost open-source adaptive anthropomorphic research hand | |
| 10 | 2026-01 | 5 | 20 | Direct-drive | — | — | — | ✓ | — | Anthropomorphic five-finger hand | |
| 11 | 2026-01 | 5 | 20 | Linkage | — | — | ✓ | — | $7k | Five-finger hand with linear-motor joints | |
| 12 | 2026-01 | 5 | 11 | Linkage | — | — | ✓ | ✓ | — | Five-finger hand | |
| 13 | 2026-01 | 5 | 22 | Linkage | — | — | ✓ | ✓ | $14k | Flagship wrist-integrated five-finger hand | |
| 14 | 2026-01 | 5 | 17 | Tendon | — | — | ✓ | ✓ | — | Compact five-finger hand | |
| 15 | 2026-01 | 5 | 6 | Tendon | — | — | ✓ | ✓ | — | Ultra-light PEEK five-finger hand | |
| 16 | 2026 | 5 | 20 (15 act.) | Tendon-drivenOSS | — | — | — | — | $600 | Sub-$600 3D-printed anthropomorphic research hand | |
| 17 | 2026 | 3 | 7 | Linkage | — | — | ✓ | — | — | Three-finger gripper with tactile fingertips and palm camera | |
| 18 | 2026 | 5 | 21 | Tendon | 20 N | — | ✓ | — | — | Open-ecosystem hand, full-palm tactile plus visuotactile fingertips | |
| 19 | 2026 | 3 | 12 | Tendon | — | — | ✓ | — | — | DEX-EE variant with an offset thumb-like finger for teleoperation, imitation learning and bimanual pairs | |
| 20 | 2025-11 | 5 | 11 (6 act.) | — | — | — | — | — | — | Low-cost six-DoF aluminum-frame hand priced at 4,999 yuan with 0.5 mm fingertip repeatability | |
| 21 | 2025-09 | 5 | 20 | — | — | — | — | — | — | First-generation 20-DoF hand with four active joints per finger, rated for 300,000 grasp cycles and drops | |
| 22 | 2025-08 | 5 | 21 | — | — | — | ✓ | — | — | Shenzhen startup's 21-DoF hand with e-skin tactile sensing over 1 kHz, shown operating a smartphone one-handed | |
| 23 | 2025 | 5 | 22 | Tendon | 20 N | 1.2 kg | ✓ | ✓ | $52k | Hand with high-resolution vision-based tactile fingertips | |
| 24 | 2025 | 5 | 22 | Tendon | — | — | ✓ | — | — | Tendon-driven research hand with distributed skin tactile sensing | |
| 25 | 2025 | 5 | 22 | Tendon | — | — | ✓ | — | — | Tendon-driven hand, forearm actuators, fingertip force sensors | |
| 26 | 2025 | 5 | — | Tendon | — | — | ✓ | — | — | Humanoid hand with palm camera and sensitive fingertip tactile sensing | |
| 27 | 2025 | 5 | 22 | Tendon | — | — | ✓ | — | $20k | Tendon-driven hand on consumer humanoid, expanding tactile coverage | |
| 28 | 2025 | 5 | 20 (16 act.) | Tendon | — | — | ✓ | ✓ | — | Five-finger hand with dense tactile sensors and backdrivable joints | |
| 29 | 2025 | 5 | 16 | — | — | — | ✓ | — | — | 16-DoF five-finger antagonistic tendon-driven hand | |
| 30 | 2025 | 4 | 16 | — | — | — | ✓ | ✓ | — | 16-DoF four-finger research hand from the Allegro V5 line | |
| 31 | 2025 | 5 | 15 (11 act.) | TendonOSS | — | — | — | — | $549 | Low-cost 3D-printed tendon-driven open-source hand for robot learning | |
| 32 | 2025 | 5 | 19 (12 act.) | LinkageOSS | — | — | ✓ | ✓ | — | Rope-driven five-finger hand with multi-modal sensors | |
| 33 | 2025 | 5 | 20 (16 act.) | Tendon | — | — | ✓ | ✓ | — | Multi-sensor dexterous hand, EtherCAT/CAN, near-human dexterity | |
| 34 | 2025 | 5 | 12 (6 act.) | — | 30 N | — | ✓ | ✓ | — | Five-finger hand with 17 tactile sensors | |
| 35 | 2025 | 5 | 19 (12 act.) | Tendon | 20 N | 750 g | ✓ | — | — | Hand with fingertip force plus multi-modal force and proximity sensing | |
| 36 | 2025 | 5 | 11 | Tendon | — | 383 g | ✓ | — | — | Lightweight high-payload hand with 3D tactile fingertip sensing | |
| 37 | 2025 | 5 | 11 | — | — | — | ✓ | — | — | Sub-millimeter-precision humanoid hand with tactile arrays, built for Walker S2 | |
| 38 | 2025 | 5 | 21 (17 act.) | TendonOSS | — | — | — | ✓ | $3k | Hybrid rigid and soft 3D-printed research hand with a powered foldable palm, buildable in one day | |
| 39 | 2025 | 3 | 9 | — | — | — | ✓ | — | — | Three-finger 9-DoF Allegro research hand with 360 degree pneumatic tactile fingertips on each finger | |
| 40 | 2024 | 4 | 16 (13 act.) | Linkage | 15 N | 1.3 kg | ✓ | — | — | Four-finger hand with dense tactile sensors and palm AI camera | |
| 41 | 2024 | 3 | 7 | Linkage | — | 710 g | ✓ | ✓ | — | Compact three-finger force-controlled hand for G1 humanoid | |
| 42 | 2024 | 5 | 12 | Linkage | 80 N | 1.1 kg | ✓ | ✓ | — | Five-finger hand with per-finger high-resolution tactile arrays | |
| 43 | 2024 | 3 | 12 | Direct-drive | — | — | — | ✓ | — | Three-finger dexterous gripper with per-joint servo control | |
| 44 | 2024 | 5 | 12 | Linkage | — | — | ✓ | — | — | Humanoid hand with six array-type tactile sensors | |
| 45 | 2023 | 5 | 20 | Hydraulic | — | — | ✓ | — | — | Hydraulic humanoid hand with sensitive tactile sensing | |
| 46 | 2023 | 4 | 16 | Direct-driveOSS | — | — | — | ✓ | $2k | Low-cost 3D-printed anthropomorphic hand for robot-learning research | |
| 47 | 2022 | 5 | 24 (20 act.) | Tendon | — | 4.3 kg | ✓ | ✓ | $74k | Tendon-driven research hand with optical fingertip tactile sensing | |
| 48 | 2022 | 5 | 27 | Hydraulic | — | — | ✓ | — | — | Muscle-actuated hand: Myofiber muscles, carbon bones, pressure pads | |
| 49 | 2022 | 5 | 19 (2 act.) | Tendon | — | — | — | ✓ | — | Adaptive soft hand driven by two synergy motors | |
| 50 | 2021 | 5 | — | Tendon | — | 490 g | ✓ | ✓ | $17.5k | Lightweight bionic hand | |
| 51 | 2021 | 5 | 6 | Linkage | 15 N | 540 g | ✓ | ✓ | $4.5k | Linear-servo five-finger hand | |
| 52 | — | 4 | 16 | Direct-drive | — | 1.1 kg | — | ✓ | $24.5k | Four-finger torque-controlled research hand | |
| 53 | — | 3 | 4 | Worm-gear | — | 980 g | ✓ | ✓ | — | Three-finger reconfigurable research gripper with tactile and force sensing | |
| 54 | — | 5 | 19 (8 act.) | Tendon | — | — | ✓ | ✓ | — | Five-finger hand with spherical wrist | |
| 55 | — | 5 | — | Tendon | — | — | ✓ | ✓ | — | Compact self-contained hand, ROS2, certified collaborative gripper | |
| 56 | — | 5 | 19 (9 act.) | TendonOSS | — | — | ✓ | — | — | Tendon-driven humanoid hand with fingertip tactile taxels | |
| 57 | — | 3 | 12 | Tendon | — | — | ✓ | — | — | Rugged three-finger tendon hand built with Google DeepMind for high-cycle learning, with stereo camera fingertips | |
| 58 | — | 5 | 20 (9 act.) | — | — | — | — | — | — | Series-production anthropomorphic servo-electric hand with nine drives and electronics built into the wrist | |
| 59 | — | 5 | 20 | Direct-drive | — | — | ✓ | — | — | Fully direct-drive 20-DoF hand weighing 730 g with a self-locking 30 kg rated payload | |
| 60 | — | 5 | 22 (18 act.) | Tendon | — | — | — | — | — | Tendon-driven biomimetic research hand with 18 active joints that opens and closes in 0.2 seconds | |
| 61 | — | 5 | 20 (10 act.) | Linkage | — | — | — | — | — | Lower-cost linkage and worm-gear hand with 10 active joints and 80 N five-finger grip | |
| 62 | — | 5 | 12 (6 act.) | Linkage | — | — | ✓ | — | — | Industrial-grade six-actuator hand with 30 N thumb force and resistive or capacitive tactile arrays | |
| 63 | — | 5 | 12 (6 act.) | Linkage | — | — | ✓ | — | — | All-metal flagship hand with 1 kHz EtherCAT control, 30 kg passive load and optional palm tactile sensors | |
| 64 | — | 5 | 18 (13 act.) | — | — | — | ✓ | — | — | Inspire's highest-DoF hand with 13 active joints, EtherCAT control and eight tactile sensor sets | |
| 65 | — | 5 | 11 (6 act.) | — | — | — | ✓ | — | — | Compact 470 g six-actuator hand with 1 kHz communication and an optional six-sensor tactile version | |
| 66 | — | 5 | 20 | Direct-drive | — | — | ✓ | ✓ | — | Full-size 20-DoF humanoid hand with an actuator in every joint and optional fingertip force or tactile sensors | |
| 67 | — | 5 | 20 | — | — | — | ✓ | — | — | First five-finger Allegro hand, with pressure sensing on fingertips, joints and palm plus Modbus connectivity |
1.Dex5-SUnitree
$6.5k
Human-sized 22-DoF hand where every joint is motor-driven and backdrivable with impact torque limits
2026-0922 DoF5 fingers
2.OmniHand 3 Ultra-MAgiBot (AGILINK)
—
Direct-drive research hand with vision-based fingertip tactile sensing
2026-0620 DoF5 fingerstactileROS2
3.XHAND1 ProRobotEra
—
Upgraded XHAND with backdrivable quasi-direct-drive joints and full-hand tactile sensing for teleoperation
2026-065 fingerstactile
4.Wuji Hand 2Wuji Technology
—
Backdrivable direct-drive 20-DoF hand with fingertip force sensing and 1 kHz control on all joints
2026-0520 DoF5 fingerstactileROS2
5.OmniHand 3 Ultra-TAgiBot (AGILINK)
—
Tendon-driven flagship hand with quick-swap tendons and palm camera
2026-0425 DoF5 fingerstactile
6.OmniHand 3 LiteAgiBot (AGILINK)
—
Compact rugged hand built to survive humanoid falls
2026-04
7.ORCA Hand StandardORCA Dexterity (ETH Zurich Soft Robotics Lab)
$3.5k
Open-source tendon-driven anthropomorphic hand for manipulation research
2026-0317 DoF5 fingers
8.ORCA Hand TouchORCA Dexterity (ETH Zurich Soft Robotics Lab)
$6.1k
Open-source tendon-driven anthropomorphic hand with tactile fingertips
2026-0317 DoF5 fingerstactile
9.ORCA Hand LiteORCA Dexterity (ETH Zurich Soft Robotics Lab)
$1.5k
Low-cost open-source adaptive anthropomorphic research hand
2026-039 DoF5 fingers
10.DG-5F-STesollo
—
Anthropomorphic five-finger hand
2026-0120 DoF5 fingersROS2
11.B20 Dexterous HandZWHAND
$7k
Five-finger hand with linear-motor joints
2026-0120 DoF5 fingerstactile
12.DH116 SeriesLeadshine
—
Five-finger hand
2026-0111 DoF5 fingerstactileROS2
13.DexHand021 ProDexRobot (Zhejiang DexRobot Technology)
$14k
Flagship wrist-integrated five-finger hand
2026-0122 DoF5 fingerstactileROS2
14.Linker Hand O7Linker Robotics (Linkerbot)
—
Compact five-finger hand
2026-0117 DoF5 fingerstactileROS2
15.Linker Hand O6Linker Robotics (Linkerbot)
—
Ultra-light PEEK five-finger hand
2026-016 DoF5 fingerstactileROS2
16.CRAFT HandUIUC / UC Irvine (Unnat Jain lab)
$600
Sub-$600 3D-printed anthropomorphic research hand
202620 DoF5 fingers
17.Atlas gripperBoston Dynamics
—
Three-finger gripper with tactile fingertips and palm camera
20267 DoF3 fingerstactile
18.Revo 3BrainCo (BrainRobotics)
—
Open-ecosystem hand, full-palm tactile plus visuotactile fingertips
202621 DoF5 fingers20 Ntactile
19.DEX-EE ChiralShadow Robot
—
DEX-EE variant with an offset thumb-like finger for teleoperation, imitation learning and bimanual pairs
202612 DoF3 fingerstactile
20.FDH-6Fourier Intelligence
—
Low-cost six-DoF aluminum-frame hand priced at 4,999 yuan with 0.5 mm fingertip repeatability
2025-1111 DoF5 fingers
21.Wuji HandWuji Technology
—
First-generation 20-DoF hand with four active joints per finger, rated for 300,000 grasp cycles and drops
2025-0920 DoF5 fingers
22.Apex HandDexcel Robotics
—
Shenzhen startup's 21-DoF hand with e-skin tactile sensing over 1 kHz, shown operating a smartphone one-handed
2025-0821 DoF5 fingerstactile
23.SharpaWaveSharpa
$52k
Hand with high-resolution vision-based tactile fingertips
202522 DoF5 fingers20 NtactileROS2
24.ProHandProception
—
Tendon-driven research hand with distributed skin tactile sensing
202522 DoF5 fingerstactile
25.Optimus Gen-3 handTesla
—
Tendon-driven hand, forearm actuators, fingertip force sensors
202522 DoF5 fingerstactile
26.Figure 03 handFigure
—
Humanoid hand with palm camera and sensitive fingertip tactile sensing
20255 fingerstactile
27.Neo hand1X Technologies
$20k
Tendon-driven hand on consumer humanoid, expanding tactile coverage
202522 DoF5 fingerstactile
28.Dex5-1Unitree
—
Five-finger hand with dense tactile sensors and backdrivable joints
202520 DoF5 fingerstactileROS2
29.mimic hand (mimic-one)Mimic Robotics
—
16-DoF five-finger antagonistic tendon-driven hand
202516 DoF5 fingerstactile
30.Allegro Hand V5 (4F Plus)Wonik Robotics
—
16-DoF four-finger research hand from the Allegro V5 line
202516 DoF4 fingerstactileROS2
31.RUKA HandNYU (Lerrel Pinto lab) / WowRobo
$549
Low-cost 3D-printed tendon-driven open-source hand for robot learning
202515 DoF5 fingers
32.DexHand021DexRobot
—
Rope-driven five-finger hand with multi-modal sensors
202519 DoF5 fingerstactileROS2
33.Linker Hand L20Linker Robotics (Linkerbot)
—
Multi-sensor dexterous hand, EtherCAT/CAN, near-human dexterity
202520 DoF5 fingerstactileROS2
34.RH56DFTP (FTP series)Inspire Robotics
—
Five-finger hand with 17 tactile sensors
202512 DoF5 fingers30 NtactileROS2
35.OmniHand Pro 2025AgiBot (Zhiyuan Robotics)
—
Hand with fingertip force plus multi-modal force and proximity sensing
202519 DoF5 fingers20 Ntactile
36.Revo 2BrainCo (BrainRobotics)
—
Lightweight high-payload hand with 3D tactile fingertip sensing
202511 DoF5 fingerstactile
37.4th-gen Dexterous Hand (Walker S2)UBTECH
—
Sub-millimeter-precision humanoid hand with tactile arrays, built for Walker S2
202511 DoF5 fingerstactile
38.LEAP Hand v2 AdvancedLEAP (CMU, open-source)
$3k
Hybrid rigid and soft 3D-printed research hand with a powered foldable palm, buildable in one day
202521 DoF5 fingersROS2
39.Allegro Hand V5 (3F)Wonik Robotics
—
Three-finger 9-DoF Allegro research hand with 360 degree pneumatic tactile fingertips on each finger
20259 DoF3 fingerstactile
40.DexH13PaXini
—
Four-finger hand with dense tactile sensors and palm AI camera
202416 DoF4 fingers15 Ntactile
41.Dex3-1Unitree
—
Compact three-finger force-controlled hand for G1 humanoid
20247 DoF3 fingerstactileROS2
42.XHand1RobotEra
—
Five-finger hand with per-finger high-resolution tactile arrays
202412 DoF5 fingers80 NtactileROS2
43.Delto Gripper DG-3FTesollo
—
Three-finger dexterous gripper with per-joint servo control
202412 DoF3 fingersROS2
44.12-DoF Dexterous HandFourier Intelligence
—
Humanoid hand with six array-type tactile sensors
202412 DoF5 fingerstactile
45.Phoenix handSanctuary AI
—
Hydraulic humanoid hand with sensitive tactile sensing
202320 DoF5 fingerstactile
46.LEAP HandLEAP (CMU, open-source)
$2k
Low-cost 3D-printed anthropomorphic hand for robot-learning research
202316 DoF4 fingersROS2
47.Shadow Dexterous HandShadow Robot
$74k
Tendon-driven research hand with optical fingertip tactile sensing
202224 DoF5 fingerstactileROS2
48.Clone HandClone Robotics
—
Muscle-actuated hand: Myofiber muscles, carbon bones, pressure pads
202227 DoF5 fingerstactile
49.qb SoftHand2 Researchqb robotics
—
Adaptive soft hand driven by two synergy motors
202219 DoF5 fingersROS2
50.Ability HandPSYONIC
$17.5k
Lightweight bionic hand
20215 fingerstactileROS2
51.RH56DFXInspire Robotics
$4.5k
Linear-servo five-finger hand
20216 DoF5 fingers15 NtactileROS2
52.Allegro Hand V4Allegro / Wonik
$24.5k
Four-finger torque-controlled research hand
16 DoF4 fingersROS2
53.BarrettHand BH8-282Barrett Technology
—
Three-finger reconfigurable research gripper with tactile and force sensing
4 DoF3 fingerstactileROS2
54.RH8D Adult HandSeed Robotics
—
Five-finger hand with spherical wrist
19 DoF5 fingerstactileROS2
55.Mia HandPrensilia
—
Compact self-contained hand, ROS2, certified collaborative gripper
5 fingerstactileROS2
56.iCub HandIstituto Italiano di Tecnologia (IIT)
—
Tendon-driven humanoid hand with fingertip tactile taxels
19 DoF5 fingerstactile
57.DEX-EEShadow Robot
—
Rugged three-finger tendon hand built with Google DeepMind for high-cycle learning, with stereo camera fingertips
12 DoF3 fingerstactile
58.SVH 5-Finger HandSCHUNK
—
Series-production anthropomorphic servo-electric hand with nine drives and electronics built into the wrist
20 DoF5 fingers
59.Linker Hand O30Linker Robotics (Linkerbot)
—
Fully direct-drive 20-DoF hand weighing 730 g with a self-locking 30 kg rated payload
20 DoF5 fingerstactile
60.Linker Hand L30Linker Robotics (Linkerbot)
—
Tendon-driven biomimetic research hand with 18 active joints that opens and closes in 0.2 seconds
22 DoF5 fingers
61.Linker Hand L20 LiteLinker Robotics (Linkerbot)
—
Lower-cost linkage and worm-gear hand with 10 active joints and 80 N five-finger grip
20 DoF5 fingers
62.RH56E2Inspire Robotics
—
Industrial-grade six-actuator hand with 30 N thumb force and resistive or capacitive tactile arrays
12 DoF5 fingerstactile
63.RH56F1Inspire Robotics
—
All-metal flagship hand with 1 kHz EtherCAT control, 30 kg passive load and optional palm tactile sensors
12 DoF5 fingerstactile
64.RH5DG2Inspire Robotics
—
Inspire's highest-DoF hand with 13 active joints, EtherCAT control and eight tactile sensor sets
18 DoF5 fingerstactile
65.RH56H1Inspire Robotics
—
Compact 470 g six-actuator hand with 1 kHz communication and an optional six-sensor tactile version
11 DoF5 fingerstactile
66.DG-5F-MTesollo
—
Full-size 20-DoF humanoid hand with an actuator in every joint and optional fingertip force or tactile sensors
20 DoF5 fingerstactileROS2
67.Allegro Hand V6 FWonik Robotics
—
First five-finger Allegro hand, with pressure sensing on fingertips, joints and palm plus Modbus connectivity
20 DoF5 fingerstactile
▸Notes & methodology
Total DoF flatters underactuated hands: a 19-DoF qb SoftHand is driven by a single motor through mechanical synergies, while an Allegro's 16 are each independently driven — so the parenthetical "actuated" count, not the headline DoF, is the real dexterity number. ROS2 support is the difference between weeks and months of integration, which is why it often matters more than raw specs when picking a research hand.
Also available as JSON — /api/hands.
