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Compact 15-DoF configuration of the DG-5F-S — five fingers, three joints each, 780 g, for humanoid platforms with tighter mass and complexity budgets.
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The 15-DoF configuration of the DG-5F-S keeps all five fingers but drops to three actuated joints per finger, trading some articulation for 100 g less mass and a simpler control problem. Tesollo documents it as a distinct target model with its own full specification table in the DG-5F-S hardware manual, and the dg5f_s_ros2 package supports both the 20-DoF and 15-DoF builds. Electrically and in software it is identical to the 20-DoF build: 24 V DC, DC-motor joints with 0.65 Nm stall torque, 14-bit absolute encoders, a 500 Hz control cycle and Modbus TCP / Ethernet control. Payload and fingertip force scale down accordingly — 1.6 kg maximum pinch, 9.6 kg maximum enveloping grasp, 14.5 N per fingertip.
Derived from its documented connections — mechanical, electrical, software.
Articulated Robot 48
missing: consumes linux-runtime · Find a linux-runtime
missing: consumes linux-runtime · Find a linux-runtime
missing: consumes linux-runtime · Find a linux-runtime
missing: consumes linux-runtime · Find a linux-runtime
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Number of Fingers 5 vs 5 · Degrees of Freedom 16 vs 15
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Degrees of Freedom
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Max Payload Capacity
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