HX5-D20
The HX5-D20 is a five-finger, anthropomorphic robotic hand from ROBOTIS's HX Hand series. Its 20-degree-of-freedom design (4 DOF per finger) mimics the human hand structure and enables precise manipulation and complex grasping.
Each finger joint is driven directly by a DYNAMIXEL XM335-T323-T smart actuator, which increases mechanical stiffness and reduces backlash. Each fingertip integrates a 9-array tactile sensor that measures contact pressure, supporting stable and delicate grasping.
The hand communicates over an RS-485 bus (DYNAMIXEL Protocol 2.0 / Modbus-RTU) and is controlled within the ROS 2 ecosystem using the ros2_control framework at a 100 Hz loop rate. The maximum envelope load is 15 kg and the fingertip force is up to 14 N. The HX5-D20 is part of the AI Worker platform released by ROBOTIS under the Apache-2.0 license.
Classification
5-finger hand · serves as: Manipulation, Grasping, End effector, Tactile sensor. · compatible with: Humanoid.
Which group HX5-D20 belongs to and how it is built
A subcategory encompassing robotic hands with multiple degrees of freedom, designed to perform complex grasping, regrasping, manipulation, and object interaction tasks. Unlike simple grippers, dexterous hands enable more advanced finger coordination and a broader variety of grasp types.
Anthropomorphic five-finger hand mimicking the proportions of a human hand.
Five-fingered robotic hands designed for a wide range of grasps and more anthropomorphic manipulation, commonly used in humanoid robots and manipulation research.
Technical specification
Basic physical properties of HX5-D20 — dimensions, weight and materials
Relations
Robots in which HX5-D20 is or can be used
Software
The HX5-D20 runs in the ROS 2 (Jazzy) ecosystem using the ros2_control framework; actuator communication uses the DYNAMIXEL SDK over an RS-485 bus.