Two-finger structure

Multi-device time synchronization: 5 ms

Dimensions (L × W × H) (mm)

Trajectory Accuracy

145×186×170

Spatial positioning accuracy: < 3 mm

Weight – Master Gripper

Tactile Sensing Configuration

Approx. 370 g

2 × visuo-tactile sensors

Maximum Payload

IMU

2.5kg

9-axis, 200 Hz

Battery Life / Power

Tactile Sensor Frame Rate / Range

3-hour battery / 

AC power

120 FPS tricolor-light 

visuo-tactile sensing, 0–25 N

Opening Range / Angle

Tactile Sensor Data / Images

0–150 mm, 

-9° to +50°

Raw tactile data / 3D morphology data 

3D distributed force data / 6D resultant force data

Video Specifications

Output Data Types

Visual-tactile camera (max): 

 640 × 480 @ 120 FPS MJPEG 

Wrist camera (max): 

 1920 × 1080 @ 60 FPS MJPEG

RGB images, multimodal tactile information 

gripper opening angle, IMU data,  

spatial positioning trajectory

Storage

Communication Interface

Local and cloud storage

USB 2.0

Fisheye Lens Field of View (FOV)

190°