Robotic Hands
The dexterous hands behind the humanoids — compared spec-for-spec on fingers, degrees of freedom, grip force, weight, tactile sensing and price.
47
Robotic hands
37
Makers
37
With tactile
| # | Hand | Released ▼ | Fingers | DoF | Actuation | Grip | Weight | Tactile | ROS2 | Price | Notes |
|---|---|---|---|---|---|---|---|---|---|---|---|
| 1 | OmniHand 3 Ultra-MAgiBot (AGILINK) | 2026-06 | 5 | 20 | Direct-drive | — | 630 g | ✓ | ✓ | — | Direct-drive research hand with vision-based fingertip tactile sensing |
| 2 | OmniHand 3 Ultra-TAgiBot (AGILINK) | 2026-04 | 5 | 25 (22 act.) | Tendon | — | 500 g | ✓ | — | — | Tendon-driven flagship hand with quick-swap tendons and palm camera |
| 3 | OmniHand 3 LiteAgiBot (AGILINK) | 2026-04 | — | — | — | — | — | — | — | — | Compact rugged hand built to survive humanoid falls |
| 4 | ORCA Hand StandardORCA Dexterity (ETH Zurich Soft Robotics Lab) | 2026-03 | 5 | 17 | TendonOSS | — | — | — | — | $3.5k | Open-source tendon-driven anthropomorphic hand for manipulation… |
| 5 | ORCA Hand TouchORCA Dexterity (ETH Zurich Soft Robotics Lab) | 2026-03 | 5 | 17 | TendonOSS | — | — | ✓ | — | $6.1k | Open-source tendon-driven anthropomorphic hand with tactile fingertips |
| 6 | ORCA Hand LiteORCA Dexterity (ETH Zurich Soft Robotics Lab) | 2026-03 | 5 | 9 | TendonOSS | — | — | — | — | $1.5k | Low-cost open-source adaptive anthropomorphic research hand |
| 7 | DG-5F-STesollo | 2026-01 | 5 | 20 | Direct-drive | — | — | — | ✓ | — | Anthropomorphic five-finger hand |
| 8 | B20 Dexterous HandZWHAND | 2026-01 | 5 | 20 | Linkage | — | — | ✓ | — | $7k | Five-finger hand with linear-motor joints |
| 9 | DH116 SeriesLeadshine | 2026-01 | 5 | 11 | Linkage | — | — | ✓ | ✓ | — | Five-finger hand |
| 10 | DexHand021 ProDexRobot (Zhejiang DexRobot Technology) | 2026-01 | 5 | 22 | Linkage | — | — | ✓ | ✓ | $14k | Flagship wrist-integrated five-finger hand |
| 11 | Linker Hand O7Linker Robotics (Linkerbot) | 2026-01 | 5 | 17 | Tendon | — | — | ✓ | ✓ | — | Compact five-finger hand |
| 12 | Linker Hand O6Linker Robotics (Linkerbot) | 2026-01 | 5 | 6 | Tendon | — | — | ✓ | ✓ | — | Ultra-light PEEK five-finger hand |
| 13 | CRAFT HandUIUC / UC Irvine (Unnat Jain lab) | 2026 | 5 | 20 (15 act.) | Tendon-drivenOSS | — | — | — | — | $600 | Sub-$600 3D-printed anthropomorphic research hand with hybrid… |
| 14 | Atlas gripperBoston Dynamics | 2026 | 3 | 7 | Linkage | — | — | ✓ | — | — | Three-finger gripper with tactile fingertips and palm camera |
| 15 | Revo 3BrainCo (BrainRobotics) | 2026 | 5 | 21 | Tendon | 20 N | — | ✓ | — | — | Open-ecosystem hand, full-palm tactile plus visuotactile fingertips |
| 16 | SharpaWaveSharpa | 2025 | 5 | 22 | Tendon | 20 N | 1.2 kg | ✓ | ✓ | $52k | Hand with high-resolution vision-based tactile fingertips |
| 17 | ProHandProception | 2025 | 5 | 22 | Tendon | — | — | ✓ | — | — | Tendon-driven research hand with distributed skin tactile sensing |
| 18 | Optimus Gen-3 handTesla | 2025 | 5 | 22 | Tendon | — | — | ✓ | — | — | Tendon-driven hand, forearm actuators, fingertip force sensors |
| 19 | Figure 03 handFigure | 2025 | 5 | — | Tendon | — | — | ✓ | — | — | Humanoid hand with palm camera and sensitive fingertip tactile sensing |
| 20 | Neo hand1X Technologies | 2025 | 5 | 22 | Tendon | — | — | ✓ | — | $20k | Tendon-driven hand on consumer humanoid, expanding tactile coverage |
| 21 | Dex5-1Unitree | 2025 | 5 | 20 (16 act.) | Tendon | — | — | ✓ | ✓ | — | Five-finger hand with dense tactile sensors and backdrivable joints |
| 22 | mimic hand (mimic-one)Mimic Robotics | 2025 | 5 | 16 | — | — | — | ✓ | — | — | 16-DoF five-finger antagonistic tendon-driven hand |
| 23 | Allegro Hand V5 (4F Plus)Wonik Robotics | 2025 | 4 | 16 | — | — | — | ✓ | ✓ | — | 16-DoF four-finger research hand with omnidirectional pneumatic… |
| 24 | RUKA HandNYU (Lerrel Pinto lab) / WowRobo | 2025 | 5 | 15 (11 act.) | TendonOSS | — | — | — | — | $549 | Low-cost 3D-printed tendon-driven open-source hand for robot learning |
| 25 | DexHand021DexRobot | 2025 | 5 | 19 (12 act.) | LinkageOSS | — | — | ✓ | ✓ | — | Rope-driven five-finger hand with multi-modal sensors |
| 26 | Linker Hand L20Linker Robotics (Linkerbot) | 2025 | 5 | 20 (16 act.) | Tendon | — | — | ✓ | ✓ | — | Multi-sensor dexterous hand, EtherCAT/CAN, near-human dexterity |
| 27 | RH56DFTP (FTP series)Inspire Robotics | 2025 | 5 | 12 (6 act.) | — | 30 N | — | ✓ | ✓ | — | Five-finger hand with 17 tactile sensors |
| 28 | OmniHand Pro 2025AgiBot (Zhiyuan Robotics) | 2025 | 5 | 19 (12 act.) | Tendon | 20 N | 750 g | ✓ | — | — | Hand with fingertip force plus multi-modal force and proximity sensing |
| 29 | Revo 2BrainCo (BrainRobotics) | 2025 | 5 | 11 | Tendon | — | 383 g | ✓ | — | — | Lightweight high-payload hand with 3D tactile fingertip sensing |
| 30 | 2025 | 5 | 11 | — | — | — | ✓ | — | — | Sub-millimeter-precision humanoid hand with tactile arrays and… | |
| 31 | DexH13PaXini | 2024 | 4 | 16 (13 act.) | Linkage | 15 N | 1.3 kg | ✓ | — | — | Four-finger hand with dense tactile sensors and palm AI camera |
| 32 | Dex3-1Unitree | 2024 | 3 | 7 | Linkage | — | 710 g | ✓ | ✓ | — | Compact three-finger force-controlled hand for G1 humanoid |
| 33 | XHand1RobotEra | 2024 | 5 | 12 | Linkage | 80 N | 1.1 kg | ✓ | ✓ | — | Five-finger hand with per-finger high-resolution tactile arrays |
| 34 | Delto Gripper DG-3FTesollo | 2024 | 3 | 12 | Direct-drive | — | — | — | ✓ | — | Three-finger dexterous gripper with per-joint servo control |
| 35 | 12-DoF Dexterous HandFourier Intelligence | 2024 | 5 | 12 | Linkage | — | — | ✓ | — | — | Humanoid hand with six array-type tactile sensors |
| 36 | Phoenix handSanctuary AI | 2023 | 5 | 20 | Hydraulic | — | — | ✓ | — | — | Hydraulic humanoid hand with sensitive tactile sensing |
| 37 | LEAP HandLEAP (CMU, open-source) | 2023 | 4 | 16 | Direct-driveOSS | — | — | — | ✓ | $2k | Low-cost 3D-printed anthropomorphic hand for robot-learning research |
| 38 | Shadow Dexterous HandShadow Robot | 2022 | 5 | 24 (20 act.) | Tendon | — | 4.3 kg | ✓ | ✓ | $74k | Tendon-driven research hand with optical fingertip tactile sensing |
| 39 | Clone HandClone Robotics | 2022 | 5 | 27 | Hydraulic | — | — | ✓ | — | — | Muscle-actuated hand: Myofiber muscles, carbon bones, pressure pads |
| 40 | qb SoftHand2 Researchqb robotics | 2022 | 5 | 19 (2 act.) | Tendon | — | — | — | ✓ | — | Adaptive soft hand driven by two synergy motors |
| 41 | Ability HandPSYONIC | 2021 | 5 | — | Tendon | — | 490 g | ✓ | ✓ | $17.5k | Lightweight bionic hand |
| 42 | RH56DFXInspire Robotics | 2021 | 5 | 6 | Linkage | 15 N | 540 g | ✓ | ✓ | $4.5k | Linear-servo five-finger hand |
| 43 | Allegro Hand V4Allegro / Wonik | — | 4 | 16 | Direct-drive | — | 1.1 kg | — | ✓ | $24.5k | Four-finger torque-controlled research hand |
| 44 | BarrettHand BH8-282Barrett Technology | — | 3 | 4 | Worm-gear | — | 980 g | ✓ | ✓ | — | Three-finger reconfigurable research gripper with tactile and… |
| 45 | RH8D Adult HandSeed Robotics | — | 5 | 19 (8 act.) | Tendon | — | — | ✓ | ✓ | — | Five-finger hand with spherical wrist |
| 46 | Mia HandPrensilia | — | 5 | — | Tendon | — | — | ✓ | ✓ | — | Compact self-contained hand, ROS2, certified collaborative gripper |
| 47 | iCub HandIstituto Italiano di Tecnologia (IIT) | — | 5 | 19 (9 act.) | TendonOSS | — | — | ✓ | — | — | Tendon-driven humanoid hand with fingertip tactile taxels |
1.OmniHand 3 Ultra-MAgiBot (AGILINK)
—
Direct-drive research hand with vision-based fingertip tactile sensing
2026-0620 DoF5 fingerstactileROS2
2.OmniHand 3 Ultra-TAgiBot (AGILINK)
—
Tendon-driven flagship hand with quick-swap tendons and palm camera
2026-0425 DoF5 fingerstactile
3.OmniHand 3 LiteAgiBot (AGILINK)
—
Compact rugged hand built to survive humanoid falls
2026-04
4.ORCA Hand StandardORCA Dexterity (ETH Zurich Soft Robotics Lab)
$3.5k
Open-source tendon-driven anthropomorphic hand for manipulation…
2026-0317 DoF5 fingers
5.ORCA Hand TouchORCA Dexterity (ETH Zurich Soft Robotics Lab)
$6.1k
Open-source tendon-driven anthropomorphic hand with tactile fingertips
2026-0317 DoF5 fingerstactile
6.ORCA Hand LiteORCA Dexterity (ETH Zurich Soft Robotics Lab)
$1.5k
Low-cost open-source adaptive anthropomorphic research hand
2026-039 DoF5 fingers
7.DG-5F-STesollo
—
Anthropomorphic five-finger hand
2026-0120 DoF5 fingersROS2
8.B20 Dexterous HandZWHAND
$7k
Five-finger hand with linear-motor joints
2026-0120 DoF5 fingerstactile
9.DH116 SeriesLeadshine
—
Five-finger hand
2026-0111 DoF5 fingerstactileROS2
10.DexHand021 ProDexRobot (Zhejiang DexRobot Technology)
$14k
Flagship wrist-integrated five-finger hand
2026-0122 DoF5 fingerstactileROS2
11.Linker Hand O7Linker Robotics (Linkerbot)
—
Compact five-finger hand
2026-0117 DoF5 fingerstactileROS2
12.Linker Hand O6Linker Robotics (Linkerbot)
—
Ultra-light PEEK five-finger hand
2026-016 DoF5 fingerstactileROS2
13.CRAFT HandUIUC / UC Irvine (Unnat Jain lab)
$600
Sub-$600 3D-printed anthropomorphic research hand with hybrid…
202620 DoF5 fingers
14.Atlas gripperBoston Dynamics
—
Three-finger gripper with tactile fingertips and palm camera
20267 DoF3 fingerstactile
15.Revo 3BrainCo (BrainRobotics)
—
Open-ecosystem hand, full-palm tactile plus visuotactile fingertips
202621 DoF5 fingers20 Ntactile
16.SharpaWaveSharpa
$52k
Hand with high-resolution vision-based tactile fingertips
202522 DoF5 fingers20 NtactileROS2
17.ProHandProception
—
Tendon-driven research hand with distributed skin tactile sensing
202522 DoF5 fingerstactile
18.Optimus Gen-3 handTesla
—
Tendon-driven hand, forearm actuators, fingertip force sensors
202522 DoF5 fingerstactile
19.Figure 03 handFigure
—
Humanoid hand with palm camera and sensitive fingertip tactile sensing
20255 fingerstactile
20.Neo hand1X Technologies
$20k
Tendon-driven hand on consumer humanoid, expanding tactile coverage
202522 DoF5 fingerstactile
21.Dex5-1Unitree
—
Five-finger hand with dense tactile sensors and backdrivable joints
202520 DoF5 fingerstactileROS2
22.mimic hand (mimic-one)Mimic Robotics
—
16-DoF five-finger antagonistic tendon-driven hand
202516 DoF5 fingerstactile
23.Allegro Hand V5 (4F Plus)Wonik Robotics
—
16-DoF four-finger research hand with omnidirectional pneumatic…
202516 DoF4 fingerstactileROS2
24.RUKA HandNYU (Lerrel Pinto lab) / WowRobo
$549
Low-cost 3D-printed tendon-driven open-source hand for robot learning
202515 DoF5 fingers
25.DexHand021DexRobot
—
Rope-driven five-finger hand with multi-modal sensors
202519 DoF5 fingerstactileROS2
26.Linker Hand L20Linker Robotics (Linkerbot)
—
Multi-sensor dexterous hand, EtherCAT/CAN, near-human dexterity
202520 DoF5 fingerstactileROS2
27.RH56DFTP (FTP series)Inspire Robotics
—
Five-finger hand with 17 tactile sensors
202512 DoF5 fingers30 NtactileROS2
28.OmniHand Pro 2025AgiBot (Zhiyuan Robotics)
—
Hand with fingertip force plus multi-modal force and proximity sensing
202519 DoF5 fingers20 Ntactile
29.Revo 2BrainCo (BrainRobotics)
—
Lightweight high-payload hand with 3D tactile fingertip sensing
202511 DoF5 fingerstactile
30.4th-gen Dexterous Hand (Walker S2)UBTECH
—
Sub-millimeter-precision humanoid hand with tactile arrays and…
202511 DoF5 fingerstactile
31.DexH13PaXini
—
Four-finger hand with dense tactile sensors and palm AI camera
202416 DoF4 fingers15 Ntactile
32.Dex3-1Unitree
—
Compact three-finger force-controlled hand for G1 humanoid
20247 DoF3 fingerstactileROS2
33.XHand1RobotEra
—
Five-finger hand with per-finger high-resolution tactile arrays
202412 DoF5 fingers80 NtactileROS2
34.Delto Gripper DG-3FTesollo
—
Three-finger dexterous gripper with per-joint servo control
202412 DoF3 fingersROS2
35.12-DoF Dexterous HandFourier Intelligence
—
Humanoid hand with six array-type tactile sensors
202412 DoF5 fingerstactile
36.Phoenix handSanctuary AI
—
Hydraulic humanoid hand with sensitive tactile sensing
202320 DoF5 fingerstactile
37.LEAP HandLEAP (CMU, open-source)
$2k
Low-cost 3D-printed anthropomorphic hand for robot-learning research
202316 DoF4 fingersROS2
38.Shadow Dexterous HandShadow Robot
$74k
Tendon-driven research hand with optical fingertip tactile sensing
202224 DoF5 fingerstactileROS2
39.Clone HandClone Robotics
—
Muscle-actuated hand: Myofiber muscles, carbon bones, pressure pads
202227 DoF5 fingerstactile
40.qb SoftHand2 Researchqb robotics
—
Adaptive soft hand driven by two synergy motors
202219 DoF5 fingersROS2
41.Ability HandPSYONIC
$17.5k
Lightweight bionic hand
20215 fingerstactileROS2
42.RH56DFXInspire Robotics
$4.5k
Linear-servo five-finger hand
20216 DoF5 fingers15 NtactileROS2
43.Allegro Hand V4Allegro / Wonik
$24.5k
Four-finger torque-controlled research hand
16 DoF4 fingersROS2
44.BarrettHand BH8-282Barrett Technology
—
Three-finger reconfigurable research gripper with tactile and…
4 DoF3 fingerstactileROS2
45.RH8D Adult HandSeed Robotics
—
Five-finger hand with spherical wrist
19 DoF5 fingerstactileROS2
46.Mia HandPrensilia
—
Compact self-contained hand, ROS2, certified collaborative gripper
5 fingerstactileROS2
47.iCub HandIstituto Italiano di Tecnologia (IIT)
—
Tendon-driven humanoid hand with fingertip tactile taxels
19 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.
