Robot Hand · Force Sensing

ROH-AP001

Sense Force. Control Precisely.

Experience optimized real-time force feedback and torque control with the integrated Tashan force sensor.

Features

6-DOF mechanism embodying prosthetic hand expertise — perfectly replicates delicate human hand movements

Real-time remote control (mirroring) and teaching support via dedicated Data Glove integration

ROS/ROS2 packages and Python/C++ API for immediate R&D without complex setup

Standard RS-485 and Modbus interfaces for easy connection with various robot arms and PLCs

Derived from prosthetic hand technology, mimicking human hand movements and form

Product Video

ROH-AP001 in Action

Core Value

Integrated Force Sensing

Precise end-load measurement without external sensors for delicate force control

Bidirectional Feedback

Joint angle + force data fusion for high-quality robot path generation and learning

Industrial Reliability

Guaranteed measurement precision and durability under repeated force application

SDK Support

Dedicated Python and C++ libraries for instant deployment in research and process design

Technical Specs

Hardware Specs

Active Joints11개 / 6 DOF

Weight640g ± 5g

Speed0.7s

Force Range0.1N ~ 25N

Repeatability±20% (500g 부하)

Sensor & Interface

Sensor TypeTashan Force Sensor

Sampling Rate150Hz

CommunicationUART, RS485, CAN FD

ProtocolSerialCtrl, ModBus-RTU

SDKROS, ROS2, Python, C++

Sensor Specifications

Tashan Force Sensor Detail Specs

Product Structure

ROH-AP001 Structure Diagram

Size & Performance

ROH-AP001 Detailed Specifications

Weight: 640g ± 5g

Measurement

중지 끝~손목 세로 거리Middle finger tip to wrist (vertical)183 mm

엄지 끝~손목 세로 거리Thumb tip to wrist (vertical)95 mm

엄지 길이Thumb length111 mm

최대 손바닥 너비Maximum palm width82 mm

손목 직경Wrist diameter49 mm

엄지 측면 최대 개폐 각도Thumb side max open/close angle0 ~ 31°

엄지~손바닥 최대 개폐 각도Thumb to palm max open/close angle0 ~ 50°

엄지 측면 회전 각도Thumb lateral rotation angle0 ~ 90°

터치스크린 조작Touch screen functionSupported

손가락 힘 피드백Finger force feedbackSupported

Performance

최대 속도 전 범위 굽힘/펴기 시간Full-range bending/stretching at max speed0.7 s

엄지 전 범위 회전 시간Thumb full-range rotation at max speed0.7 s

펴진 상태 각 손가락 끝 능동력Active force per fingertip (stretched)≥ 0.5 kgf

굽힌 상태 각 손가락 끝 능동력Active force per fingertip (bent)≥ 1 kgf

엄지 끝 최대 능동력Max active force of thumb tip≥ 1 kgf

4손가락 굽힌 상태 최대 수동 하중Max passive load for 4 fingers (bent)30 kg

각 손가락 굽힌 상태 최대 수동 하중Max passive load per finger (bent)10 kg

각 손가락 펴진 상태 최대 수동 하중Max passive load per finger (stretched)8 kg

Use Cases

Precision Assembly

Real-time force detection during part assembly prevents damage and enables instant quality inspection

Surface Finishing

Automate sanding and polishing processes requiring constant pressure for uniform results

Medical/Bio Automation

Ideal for delicate bio-sample handling and force-feedback-based surgical robot research

Use Cases

Real-World Motion in Various Environments

Basic Motion

Click

Grasping

Movement

Gesture

Gesture 2

Humanoid

Robot Arm

Precision Assembly

Real-time force detection during assembly prevents damage and enables instant quality inspection

Surface Finishing

Automate sanding and polishing requiring constant pressure for consistent, uniform results

Medical / Bio Automation

Ideal for delicate bio-sample handling and force-feedback-based surgical robot research

Delivery Cases

Real-World Applications

Experience the Innovation Firsthand

Refind goes beyond sales — we provide optimized technical support and custom solutions.