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DG-5F-S 20-DoF

Price
Unknown
Type
Components · Dexterous Hands
Status
Commercial
Availability
Not disclosed
Release Date
Mar 2026
Country/Region
South Korea
Latest parameter verification
2026-10-30
20 DOF
Active degrees of freedom
20
Mechanical joint count
0.88 kg
Hand weight
5
Finger count

The DG-5F-S is TESOLLO’s five-finger dexterous hand for humanoid platforms, with 20 degrees of freedom and independently controlled joints. Its adult-hand-sized, sub-1 kg structure supports Ethernet and Modbus communication for grasping, in-hand manipulation, tool use, precision-assembly research, and platform integration.

1 / 1DG-5F-S 20-DoF

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
5
Actuator count
20
Active degrees of freedom
20 DOF
Active degrees of freedom
20 count
Mechanical joint count
20
Total degrees of freedom
20 DOF
Total degrees of freedom
20 DoF

Official source: Degrees of Freedom 20 DoF (4 DoF per finger)

Transmission mechanism
No inter-joint mechanical coupling

Mechanical and mounting

Hand weight
0.88 kg

Mechanical Structure

Joint Encoder
Absolute encoder
Joint Encoder Resolution
14-bit absolute encoder
Maximum current
Max. 10 A

Official source: Max. Current Consumption Max. 10 A

Motor Peak Torque
0.65 N·m
Operating voltage
24 V

Sensors

Communication interface
Ethernet
Communication protocol
Modbus (TCP)

Official source: Communication Ethernet (TCP/IP), Modbus (TCP)

Control loop rate
500 Hz

Official source: Control Frequency 500 Hz

Feedback rate
500 Hz
Feedback signals
Absolute Encoder

Official source: Encoder Absolute Encoder

Tactile Sensor
Optional fingertip tactile sensor

Performance and tasks

Pinch payload
1 kg (rated)
Pinch payload
2 kg (maximum)
Pinch payload
1 / 2 kg

Official source: Pinching payload (rated / max): 1 / 2 kg

Power grasp payload
7 kg (rated)
Power grasp payload
12 kg (maximum)
Power grasp payload
12 kg

Sensing

Communication
Modbus (TCP); Ethernet (TCP/IP)
Has tactile sensing
Optional

Official source: Fingertip Sensor (Tactile Sensor)

Tactile configuration
Optional fingertip tactile sensor

Commercial availability

Purchase URL
https://www.tesollo.com/products/grippers/dg-5f-s

Official source: DG-5F-S | Compact Lightweight Humanoid Robotic Hand

Configurations

Standard

Communication and control

Communication interface
Ethernet
Communication protocol
Modbus (TCP)
Communication protocol
Ethernet (TCP/IP)
Control mode
Operator mode
Control mode
Developer mode
Feedback signals
Absolute encoder

Tactile fingertips (optional)

Sensing

Has tactile sensing
Supported

Commercial Status

Status
Commercial
Price
Unknown
Release Date
Mar 2026
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