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Tesollo DG-4F

DG-4F

Price
Unknown
Type
Components · Dexterous Hands
Status
Unknown
Availability
Not disclosed
Release Date
Unknown
Country/Region
South Korea
Latest parameter verification
2026-10-30
1.494 kg
Hand weight
4
Finger count

DG-4F is Tesollo’s four-finger, 18-DoF multi-joint robotic gripper. Four independently controlled fingers and a flexible base-joint structure enable left-hand-like, right-hand-like, and conventional gripper configurations. Official specifications list 24 V input, a 10 A maximum current, absolute encoders, and optional fingertip sensors.

1 / 1DG-4F

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
Total degrees of freedom
18 DOF

Mobility & Payload

Peak Joint Output Torque
2 N·m

Mechanical and mounting

Hand weight
1.494 kg

Electrical and integration

Joint Encoder
Absolute encoder
Maximum current
10 A
Operating voltage
24 V

Sensors

Force/Torque Sensor
Optional 6-axis F/T Sensor; 3-axis Force Sensor
Sensors
Optional 6-axis F/T, 3-axis force, and tactile fingertip sensors
Tactile Sensor
Optional tactile fingertip sensor

Interaction and Communication

Communication
Modbus (RTU, TCP), Ethernet (TCP/IP)

Configurations

DG-4F — Manufacturer specification

Communication and control

Communication interface
Ethernet (TCP/IP)

Official DG-4F specification. Tactile fingertips are optional, not asserted as standard equipment.

DG-4F — Optional tactile fingertips

Communication and control

Communication interface
Ethernet (TCP/IP)

Official DG-4F specification. Tactile fingertips are optional, not asserted as standard equipment.

Sensing

Has tactile sensing
Yes

Official DG-4F specification. Tactile fingertips are optional, not asserted as standard equipment.

Open source & build resources

Software

Partially available

Examples or supporting tools are available; this does not establish access to the core system.

Hardware design

Not verified

There is not enough verified evidence to establish this dimension.

Build resources

Not verified

There is not enough verified evidence to establish this dimension.

TypeResourceLicenseApplicable versionOpen
CodeDG-4F official ROS 2 driver packages

GitHub · tesollodelto/dg4f_ros2

BSD-3-Clause model-specific ros2_control, RViz, Gazebo and MoveIt 2 integration. Requires separate dg_hardware and dg_tcp_comm packages; initialize the correct submodules or standalone dependencies. External SDK binaries and firmware are not covered by this source-code claim.

BSD-3-ClauseDG-4F (18-joint official ROS 2/model package)Open GitHub
SimulationDG-4F official URDF and USD models

GitHub · tesollodelto/tesollo_model

BSD-3-Clause visual/collision meshes, URDF and Isaac Sim USD assets for DG-4F. The URDF and referenced mesh paths were checked; simulator runtime and physical fit were not tested. Simulation geometry is not a manufacturing drawing or complete parts list.

BSD-3-ClauseDG-4F (18-joint official ROS 2/model package)Open GitHub
GuideDG-4F ROS 2 integration and control guide

tesollodelto.github.io

Official setup for the 18-joint DG-4F, covering driver launch, position/effort controllers, MoveIt, mock hardware and optional sensor interfaces. Match delivered sensors and network settings. Documentation permission is unverified; programming guidance is not mechanical assembly or fabrication.

—DG-4F (18-joint official ROS 2/model package)Open documentation

Commercial Status

Status
Unknown
Price
Unknown
Release Date
Unknown
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