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Abilis

CEA-List dexterous robotic gripper

Price
Unknown
Type
Components · Dexterous Hands
Status
Prototype
Availability
Not released
Release Date
Unknown
Country/Region
France
Latest parameter verification
2026-10-30
14 DOF
Active degrees of freedom
4
Finger count

Abilis is a four-finger dexterous gripper developed by CEA-List within the European Tracebot project. It has 18 degrees of freedom, 14 actuators and 13 tactile sensors: three on each finger and one on the palm. According to CEA-List, the actuators measure applied force, while tactile sensors locate contacts and work with neural networks to detect slippage. An official demonstration shows one finger lifting 2 kg; this and bimanual sterile-medical-product trials illustrate its research focus on contact sensing and grasping force.

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Technical specifications

Model specifications are shown below. Configuration-specific values are listed separately; missing data does not mean zero or unsupported.

Degrees of freedom and drive

Finger count
4

CEA-List research hardware: 18 total degrees of freedom, of which 14 are actuated.

Actuator count
14

CEA-List research hardware: 18 total degrees of freedom, of which 14 are actuated.

Active degrees of freedom
14 DOF

CEA-List research hardware: 18 total degrees of freedom, of which 14 are actuated.

Total degrees of freedom
18 DOF

CEA-List research hardware: 18 total degrees of freedom, of which 14 are actuated.

Sensors

Sensors
Hybrid tactile sensing with a piezoresistive sensing layer.
Tactile Sensor
13 piezoresistive tactile sensors: three on each finger and one on the palm.

Compute Platform

Software Algorithm
Neural-network algorithms for high-frequency tactile-event recognition

Interaction and Communication

Tactile Feedback
Neural-network algorithms recognize high-frequency tactile signals indicating critical events such as slippage.

Development and Expansion

Operating Modes
80 distinct grasp configurations

Configurations

Abilis — Documented tactile hardware

Sensing

Has tactile sensing
Yes

Documented Abilis hardware has 13 tactile sensors across its four fingers and palm.

Commercial Status

Status
Prototype
Price
Unknown
Release Date
Unknown
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