Tesollo DG-5F-M

Overview

The DG-5F-M is a fully actuated five-finger anthropomorphic robotic hand with 20 degrees of freedom — four per finger — each driven by its own integrated actuator, so joints move independently with no inter-joint mechanical coupling. It is modelled on the size and proportions of an adult male hand, which lets it work with tools, devices and workspaces built for people. High-torque actuation (2 Nm stall torque per joint) backs a 20 kg maximum enveloping payload and 97 N of force at each fingertip, while coordinated multi-finger control supports pinch, power and precision grips selected per object. Optional fingertip sensors — 6-axis F/T, 3-axis force, or tactile — supply the real-time feedback needed for force-based control, slip detection and tactile-manipulation research. Control is via Modbus (RTU/TCP) or raw Ethernet in Developer Mode, with ROS 2 packages (URDF, ros2_control, MoveIt 2, Gazebo) published for Humble, Jazzy and Lyrical.