iHY Hand

Research prototype; distinct from later commercial derivatives.

iRobot-Harvard-Yale iHY Hand

Price

Not disclosed

Type

Components · Dexterous Hands

Status

Research prototype

Availability

Not released

Release Date

2014

Country/Region

United States

Latest parameter verification

2026-10-30

5 DOF

Active degrees of freedom

1.35 kg

Hand weight

Finger count

The iHY Hand is a three-finger, five-actuator underactuated research hand created by iRobot, Harvard, and Yale. Its compliant fingers support power and fingertip grasps, reconfiguration, and basic in-hand manipulation; it is not represented as a current commercial product.

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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

Actuator count

Actuator technology

Direct-current motors (Maxon EC-20)

Active degrees of freedom

5 DOF

Materials

Glass-filled epoxy resin; elastomeric pads and flexure joints

Transmission mechanism

Non-backdriveable worm-gear transmission

Mechanical and mounting

Hand weight

1.35 kg

Mechanical Structure

Dexterous Hand

Three-finger underactuated research hand

Joint Sensor Type

Magnetic encoders; optical flexure-deformation sensors

Sensors

Tactile Sensor

MEMS barometer tactile arrays; 10 mN sensitivity, 4.9 N range

Configurations

iHY Hand — published 2014 prototype

Sensing

Has tactile sensing

Supported

Commercial Status