Documentation Specifications
Wuji Hand 2 Main Specifications
| Structure | Active DoF | 20 DoF (4 per finger) |
|---|---|---|
| Finger configuration | Full opposition and lateral (abduction) movement | |
| Drive System | Direct-drive rotary joints (back-drivable) | |
| Dimensions | Approx. 180 × 80 × 40 mm | |
| Weight | Approx. 800 g (incl. soft pads and cables, excl. base) | |
| Min. grasping diameter | 0 mm | |
| Sensing | Fingertip force sensing | Multi-axis force/torque sensing |
| Control | Control rate | 1000 Hz × 20 axes |
| Control mode | MIT hybrid force-position control | |
| Performance | Fingertip peak force | ≥ 12 N |
| Open/close speed | ≥ 4 cycles/s | |
| Joint backlash | < 1° | |
| Communication & Power | Communication | EtherNet（100BASE-T / RJ45） |
| Operating voltage | 12 V DC | |
| Software | Supported environments | Python / C SDK、CLI、ROS 2、URDF / MJCF / USD |
* Specifications may differ from final production models. All parameters are subject to the actual sales model.