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Version I Utah/M.I.T. Dextrous Hand

Version I only; later Version III specifications require an explicit version match.

Price
Unknown
Type
Components · Dexterous Hands
Status
Prototype
Availability
Not disclosed
Release Date
Unknown
Country/Region
United States
Latest parameter verification
2026-09-23
16 DOF
Active degrees of freedom
16
Mechanical joint count
4
Finger count

Version I Utah/M.I.T. Dextrous Hand is an early multifinger robotic-hand research device developed jointly by the University of Utah and MIT for finger-motion and manipulation-control experiments. The original research paper presents motion-response results for a complete Version I finger, using the dynamics of a specific finger mechanism to investigate dexterous-hand motion control. Some cited hardware data come from a generation-unspecified 1989 experiment or Version III material; they are not independently verified Version I specifications.

1 / 1Version I Utah/M.I.T. Dextrous Hand

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

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Actuator count
32

The cited design paper describes Version III. Its 32-actuator figure is not independent confirmation for Version I; this retained historical value is not a verified Version I specification.

Actuator technology
Pneumatic piston actuation

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Active degrees of freedom
16 DOF

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Mechanical joint count
16

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Total degrees of freedom
16 DOF

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Transmission mechanism
Tendon-driven

Mechanical and mounting

Mounting interface
Articulated extension linkage (remotizer) for robot-arm attachment

Mechanical Structure

Dexterous Hand
Four-finger anthropomorphic hand with palm
Joint Sensor Type
Position sensors and tendon-tension sensors
Joint Type
Four joints per finger

Sensors

Force/Torque Sensor
Wrist-mounted tendon-tension sensors
Sensors
Position sensors and tendon-tension sensors
Tactile Sensor
1984 optical-touch-sensing study; Version I installation unconfirmed

The publisher abstract describes project development and optical touch-sensor research, not verified installed tactile hardware on this Version I unit.

Software and resources

Teleoperation support
Supported

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Interaction and Communication

Communication
1989 NYU external-controller reference; not a hand-port specification

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Remote Controller
VPL DataGlove in the 1989 NYU experiment; hand generation unspecified.

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Development and Expansion

Integration Interface
1989 NYU external controller: VME bus with D/A and A/D boards; hand generation unspecified.

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Teleoperation
1989 NYU teleoperation and autonomous-mode experiment; hand generation unspecified.

1989 NYU experiment; the paper does not identify the hand generation. Version I applicability is unconfirmed.

Commercial Status

Status
Prototype
Price
Unknown
Release Date
Unknown
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