The DG-5F-M is a fully actuated 5-finger robotic hand with 20 independently controlled joints. Sized to an adult male hand, it is built for teleoperation with MANUS and SenseGlove data gloves, tool handling, object assembly and disassembly, and dexterous manipulation in human-scale environments. BLDC motors deliver up to 20kg enveloping payload. Communicates via Modbus RTU/TCP and EtherNet TCP/IP. ROS2 compatible.

Key Features

• 20 Independent Joints — 4 DoF per finger across all five fingers. No coupled or underactuated fingers. Enables complex hand poses and coordinated multi-finger manipulation.
• Adult Male Hand Scale — Proportioned to a human hand. Optimized for human-centric workspaces, standard tooling, and data glove teleoperation.
• High Payload — Enveloping payload up to 20kg max, pinching up to 5kg max. BLDC motors with 2 Nm stall torque per joint.
• Dual Communication — Modbus RTU, Modbus TCP, and EtherNet TCP/IP. 250Hz control cycle with absolute encoders.
• ROS2 Ready — Native ROS2 support. GitHub SDK for custom integrations.
• Optional Fingertip Sensors — Tactile, 3-axis force, and 6-axis F/T sensors available as add-ons depending on application requirements.

Grip Modes

• Pinch Grip — Fingertip-to-fingertip. Precision grasp of small or flat objects.
• Power Grip — Full-hand enveloping. Maximum payload, secure hold of larger objects.
• Precision Grip — Partial finger segment contact. Controlled force for delicate or irregular objects.

Specifications

• Motor Type: BLDC Motor
• Degrees of Freedom: 20 DoF (4 DoF per finger)
• Power Supply: 24V DC
• Current Consumption: Max 10A
• Communication: Modbus RTU, Modbus TCP, EtherNet TCP/IP
• Control Cycle: 250 Hz
• Encoder: Absolute encoder
• Stall Torque (per joint): 2 Nm
• Rated Torque (per joint): 0.4 Nm
• No-Load Speed (per joint): 75 rpm
• Pinching Payload (rated / max): 2.5 kg / 5 kg
• Enveloping Payload (rated / max): 10 kg / 20 kg
• Weight: 1,763 g
• Mounting Standard: ISO 9409-1-50-4-M6

Payload may vary depending on object surface friction and shape.

Compatible With

• Data Gloves: MANUS Metagloves Pro, MANUS Metagloves Pro Haptic, SenseGlove
• Robot Arms: Any arm with ISO 9409-1-50-4-M6 interface. Controller must support Modbus Protocol (Master/Client).
• Software: ROS2 (Humble or later), NVIDIA Isaac Lab, GitHub SDK
• Communication: Any controller with Modbus RTU/TCP or EtherNet TCP/IP

Add-On Options

• Fingertip Sensor — 6-Axis F/T — Per-fingertip 6-axis force/torque sensing for contact-rich manipulation. Optional add-on.
• Fingertip Sensor — 3-Axis Force — Per-fingertip 3-axis force sensing. Optional add-on.
• Fingertip Sensor — Tactile Sensor — Per-fingertip tactile sensing for slip detection and adaptive grip control. Optional add-on.
• Pneumatic Finger Option — Vacuum pad fingertips enabling suction-based gripping in addition to conventional grasping. Includes 3 pneumatic fingertips, vacuum pump, and pneumatic control box.
• Gripper Mounting Stand — Benchtop stand for testing and development without a robot arm.

What's in the Box

• 5-Finger DELTO Gripper DG-5F-M × 1 — specify left or right hand at time of order
• Gripper Cable (power cable)
• Ethernet Cable (3M)
• Bolt Set
• Adapter Frame
• 4GB USB — includes sample program, SDK, and user manual

Add-ons not included unless specified in the quote. Box contents confirmed at time of order.

Ordering

Made to order. Sold per hand unit. Production lead time is approximately 6 weeks, plus 3–4 days shipping. Knoxlabs sources directly from Tesollo and can include this product in a full robotics stack quote alongside MANUS gloves and SenseGlove. Request a quote to confirm configuration, pricing, and delivery timeline.