Hardware Evaluation Comparison of Representative Dexterous Robotic Hands
0.001WeightDexHand 021
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| DexHand 021Transmission=Tendon-driven rope-elastic2026.06 | 0.001 | 12 | 296 | 16 | 12 | 5 | |
| ILDA HandTransmission=Linkage-driven2026.06 | 0.0011 | 15 | 218 | — | 34 | 18 | |
| DLR/HIT Hand IITransmission=Tendon + differential bevel gears2026.06 | 0.0015 | 15 | — | — | 10 | — | |
| RBO Hand 3Transmission=Pneumatic soft actuation2026.06 | 0.0016 | 16 | — | — | 8.3 | 3.9 | |
| Shadow HandTransmission=Tendon-driven2026.06 | 0.0043 | 20 | 448 | 50 | 10 | 5 | |
| Leap HandTransmission=Direct geared servos2026.06 | 0.35 | 16 | 300 | 2 | 5 | — | |
| RUKA HandTransmission=Tendon, underactuated2026.06 | 0.5 | 11 | 180 | 1.3 | 2.74 | 6 | |
| SyLink HandTransmission=Linkage-driven + worm gear2026.06 | 0.52 | 11 | 235 | 400 | 5 | 2.5 | |
| ISyHandTransmission=On-joint servo-driven2026.06 | 0.62 | 18 | 255 | 1.3 | 5.5 | 9 | |
| Krysalis HandTransmission=Integrated geared actuation2026.06 | 0.79 | 18 | 240 | — | 10 | 4.5 | |
| CasiaHandTransmission=Tendon, underactuated2026.06 | 0.89 | 7 | 245 | — | 16.43 | — | |
| DexHand 021Actuated DOFs=12, Transmission=Tendon-driven rope-elastic2026.06 | 1 | — | 296 | 16 | 12 | 5 | |
| ILDA HandActuated DOFs=15, Transmission=Linkage-driven2026.06 | 1.1 | — | 218 | — | 34 | 18 | |
| Unitree Dex5-1Actuated DOFs=16, Transmission=Geared motor-driven joints2026.06 | 1.1 | — | 217 | 4 | 10 | 3.5 | |
| Allegro HandActuated DOFs=16, Transmission=Direct geared DC motors2026.06 | 1.2 | — | 284 | 15 | 5 | 5 | |
| ORCA HandActuated DOFs=17, Transmission=Tendon-driven2026.06 | 1.3 | — | — | 2 | — | 10.5 | |
| DLR/HIT Hand IIActuated DOFs=15, Transmission=Tendon + differential bevel gears2026.06 | 1.5 | — | — | — | 10 | — | |
| RBO Hand 3Actuated DOFs=16, Transmission=Pneumatic soft actuation2026.06 | 1.6 | — | — | — | 8.3 | 3.9 | |
| Shadow HandActuated DOFs=20, Transmission=Tendon-driven2026.06 | 4.3 | — | 448 | 50 | 10 | 5 | |
| DexLink HandActuated DOFs=16, Transmission=Linkage-driven + worm gear2026.06 | 320 | — | 190 | 400 | 6 | 10 | |
| Leap HandActuated DOFs=16, Transmission=Direct geared servos2026.06 | 350 | — | 300 | 2 | 5 | — | |
| RUKA HandActuated DOFs=11, Transmission=Tendon, underactuated2026.06 | 500 | — | 180 | 1.3 | 2.74 | 6 | |
| ISyHandActuated DOFs=18, Transmission=On-joint servo-driven2026.06 | 620 | — | 255 | 1.3 | 5.5 | 9 | |
| CYJ HandActuated DOFs=22, Transmission=Tendon-driven2026.06 | 750 | — | — | 200 | — | 10 | |
| Krysalis HandActuated DOFs=18, Transmission=Integrated geared actuation2026.06 | 790 | — | 240 | — | 10 | 4.5 | |
| CasiaHandActuated DOFs=7, Transmission=Tendon, underactuated2026.06 | 890 | — | 245 | — | 16.43 | — | |
| X-handTransmission=Linkage, tendon, underactuated2026.06 | — | 4 | — | — | 5 | — |