AgiBot OmniHand
Compact and lightweight
- 180 mm in total length,just 500g in weight-adaptive to humanoid robots of various models.
Adaptive interaction
- 16 DOFs for more human-like gesture interaction, covering all common gestures plus an exclusive back-of-hand touch interaction.
Safe and user-friendly
- Over 400 force-sensing taxels across the hand and an anti-pinch design for safer interaction
Technology and Configuration
Here you’ll find answers to the most frequently asked questions, helping you better understand AGIBOT’s products and services.
No.2555, Xiupu Road, Kangqiao Business Oasis,
Caohejing, Pudong New Area, Shanghai, China.
Does AGIBOT OmniHand (with Tactile) have power control?
Yes.
What are the 10 active degrees of freedom in AGIBOT OmniHand and the 12 active degrees of freedom in AGIBOT OmniHand Pro?
AGIBOT OmniHand: 3+2+1+2+2 (from thumb to pinky). AGIBOT OmniHand Pro: 4+3+3+1+1 (from thumb to pinky).
How many motors are there in AGIBOT OmniHand and AGIBOT OmniHand Pro respectively?
AGIBOT OmniHand: 10 motors, 10 active degrees of freedom. AGIBOT OmniHand Pro: 12 motors, 12 active degrees of freedom.
Do you have 3D model images?
Yes, you can view the product manual and download the model diagram in the official open-source documentation:https://www.zhiyuan-robot.com/DOCS/OS/Omnihand-O10
Does the dexterous hand use a brushed or brushless motor?
Brushed motor.
What is the solution behind the AGIBOT OmniHand (with Tactile) tactile sensor?
Piezoresistive one-dimensional force.
What kind of tactile sensor does the AGIBOT OmniHand Pro use?
Piezoresistive three-dimensional force.
Does AGIBOT OmniHand Pro have joint force control?
Features current loop force control and tactile force feedback.
Does the 400-array sensor in the AGIBOT OmniHand (with Tactile) return 400 force data points, or does it only return one force point for each fingertip?
400 force data points.
What is the transmission method of AGIBOT OmniHand and AGIBOT OmniHand Pro dexterous hands?
Connecting rod + direct drive transmission.
What data does the AGIBOT OmniHand Pro's tactile sensor output?
Little-endian
byte0: Sensor online status
byte1-18: Values of each channel
byte19-24: Three-dimensional force (0-3000) unit 0.010N
byte25-28: Self-capacitance close to
When Byte0 is 1, it indicates that the sensor is online.
Byte19-20 represents the normal force (little-endian mode).
Bytes21-22 represent tangential force (little-endian mode).
Bytes23-24 represent the tangential force angle (little-endian mode).
Normal force: The force perpendicular to the surface of the finger.
Tangential force: A force horizontal to the surface of the finger.
Tangential force angle: 0° upward from the fingertip position, clockwise rotation, range: 0°~359°.
What is the accuracy that can be achieved when using VR teleoperation to collect data?
The repeatability of hand positioning is 0.5mm for AGIBOT OmniHand and 0.4mm for AGIBOT OmniHand Pro.
Can the dexterous hand designed according to the Franka port be adapted to other robots or robotic arms?
Yes, you can. You just need to redesign and print a new adapter flange.
AGIBOT OmniHand (with Tactile): What is the fingertip thickness? Is it compatible with Relium?
- Compatible with Relium;
- Fingertip thickness: refers to the thickness of the silicone. Silicone thickness: 1.5mm, finger thickness: 16mm.
When will Dexterous Hands receive CE/FCC product certification?
CE certification is currently available.
What are the rated load, maximum load, and lifespan of the AGIBOT OmniHand and AGIBOT OmniHand Pro?
The AGIBOT OmniHand has a rated load of 500g and a maximum load of 2kg, with 50,000 cycles at rated load; the AGIBOT OmniHand Pro has a rated load and maximum load of 5kg, with 100,000 cycles at rated load.
Which teleoperation methods are currently supported?
Supports both gloves and exoskeletons, including gloves from Yudie Technology.
How much grip strength can a dexterous hand achieve?
Load and grip strength are two different parameters.
AGIBOT OmniHand Pro: Maximum active lateral grip force of 5kg, maximum passive hook grip force of 30kg.
AGIBOT OmniHand: Maximum active lateral grip force is 2kg, and maximum passive hook grip force is 2kg.
What are the power supply voltage, rated current, and maximum current of the AGIBOT OmniHand Pro? Does the current increase with grip strength and load?
Continuous operating current ≤2A@24V, peak current ≤3.5A@24V; the greater the gripping force and load, the greater the current.
Are the rated current and maximum current values of AGIBOT OmniHand Pro the same under different voltage conditions?
They are different. It is recommended to use a voltage of 22~24V.
How long can the AGIBOT OmniHand Pro operate at maximum current?
Rated service life of 150,000 cycles.
What is the haptic resolution of the AGIBOT OmniHand (with Tactile)?
AGIBOT OmniHand: 0.2N. AGIBOT OmniHand Pro: 0.1N.
What is the accuracy of the tactile sensors in AGIBOT OmniHand and AGIBOT OmniHand Pro?
AGIBOT OmniHand has a precision class of 1-2N, while AGIBOT OmniHand Pro has a precision class of 2%FS.
Use and Maintenance
Here you’ll find answers to the most frequently asked questions, helping you better understand AGIBOT’s products and services.
No.2555, Xiupu Road, Kangqiao Business Oasis,
Caohejing, Pudong New Area, Shanghai, China.
Does the Dexterous Fingertip feature support the replacement of other haptic sensors?
Not currently supported. If the customer wants to configure it themselves, modifications are required.
Does the example code include Python?
Yes.
Is any pre-written control code provided?
A corresponding SDK will be provided.
Will you provide URDF?
Provided, see details:https://www.zhiyuan-robot.com/DOCS/OS/Omnihand-O10
What development environment is required, and does it support ROS2 development?
Supports ROS2 and is currently under development, expected to launch in November.
Does AGIBOT OmniHand Pro support RS485 communication?
Support.
Does the Dexterous Hand support EtherCAT for communication?
EtherCAT cannot be used at present. The current product communication methods are:
AGIBOT OmniHand:rs485/canfd/usb;
AGIBOT OmniHand Pro:canfd.
For those making intelligent prosthetics, is it possible to use this hand in a prosthetic hand?
Yes, but the customer needs to develop the electromyography signals themselves.
What does the status indicator light on the back of the hand mean?
When the back of the hand light is blue, it indicates that the whole machine is initializing; when the blue light turns green, it indicates that the initialization is complete; when the voltage is too low or too high, the back of the hand light cannot change from blue to green. Please check in time whether the voltage meets the requirement of 24V+/-10%.
