The DG-5F-S is a compact humanoid robotic hand built for integration with humanoid and collaborative robot platforms, dexterous manipulation research, and teleoperation. Direct Drive actuation eliminates backlash and delivers high positional accuracy at 500Hz control frequency. Available in two configurations — select your variant above.

Configurations

20 DoF — Full Hand
4 DoF per finger across all five fingers. Full independent joint control. Pinching payload 1 kg / 2 kg max. Enveloping payload 7 kg / 12 kg max. Weight: 880g. Best for dexterous manipulation, in-hand reorientation, and maximum task versatility.

15 DoF — Compact
3 DoF per finger across all five fingers. The 15 DoF version has a different fingertip shape — fingertips are slightly inclined toward the palm, which may limit grasping of smaller objects. Pinching payload 0.8 kg / 1.6 kg max. Enveloping payload 5.6 kg / 9.6 kg max. Weight: 780g. Best for platforms with wrist payload, space, or compute constraints.

Key Features

• Direct Drive Actuation — No gearbox. Minimal backlash, high positional accuracy, intuitive force control.
• Lightweight — 880g (20 DoF) / 780g (15 DoF). Human hand scale. Minimal added wrist-load on humanoid and collaborative robot arms.
• 500Hz Control Frequency — High responsiveness for dynamic manipulation and teleoperation tasks.
• Independent Joint Control — Each joint independently actuated. No coupled or underactuated fingers (20 DoF variant).
• Built-In Grasp Algorithms — On-board algorithms for robust object handling across diverse shapes and materials.
• Two Configurations, Different Fingertip Design — The 15 DoF variant has a different fingertip shape and reduced joint count. Payloads, fingertip force, and grasping characteristics differ between variants. See configuration details above.
• GitHub SDK — Open-source SDK at github.com/tesollodelto for custom software integration.

Specifications

Electrical and communication specs are identical across both variants. Mechanical specs differ — see per-variant values below.

• Motor Type: DC Motor (Direct Drive)
• Power Supply: 24V DC
• Current Consumption: Max 10A
• Communication: EtherNet TCP/IP, Modbus TCP
• Control Frequency: 500 Hz
• Encoder: Absolute encoder (14-bit resolution)
• Repeatability (per joint): ±0.1°
• Stall Torque (per joint): 0.65 Nm
• Rated Torque (per joint): 0.11 Nm
• No-Load Speed (per joint): 85 rpm
• Mounting Standard: ISO 9409-1-50-4-M6

• 20 DoF — Degrees of Freedom: 20 (4 DoF per finger)
• 20 DoF — Weight: 880 g
• 20 DoF — Pinching Payload (rated / max): 1 kg / 2 kg
• 20 DoF — Enveloping Payload (rated / max): 7 kg / 12 kg
• 20 DoF — Max fingertip force (per finger): 19.4 N

• 15 DoF — Degrees of Freedom: 15 (3 DoF per finger)
• 15 DoF — Weight: 780 g
• 15 DoF — Pinching Payload (rated / max): 0.8 kg / 1.6 kg
• 15 DoF — Enveloping Payload (rated / max): 5.6 kg / 9.6 kg
• 15 DoF — Max fingertip force (per finger): 14.5 N

Payload may vary depending on object surface friction and shape.

Compatible With

• Data Gloves: MANUS Metagloves Pro, SenseGlove
• Robot Arms: Any arm with ISO 9409-1-50-4-M6 interface (standard cobot interface). Humanoid platform compatibility varies by model — custom mounting adapters available (additional cost).
• Software: ROS2 (Humble or later), NVIDIA Isaac Lab, GitHub SDK
• Communication: Any controller with EtherNet TCP/IP or Modbus TCP

Add-On Options

• Fingertip Sensor — Tactile Sensor — Per-fingertip tactile sensing for slip detection and adaptive grip control. DG-5F-S specific version available.
• Gripper Mounting Stand — Benchtop stand for testing and development without a robot arm.

What's in the Box

• 5-Finger DELTO Gripper DG-5F-S × 1 — in selected configuration (20 DoF or 15 DoF). Specify left or right hand at time of order.
• Gripper Cable (power cable)
• Ethernet Cable (3M)
• Bolt Set
• Adapter Frame
• 4GB USB — includes sample program, SDK, and user manual

Add-ons not included unless specified in the quote. Box contents confirmed at time of order.

Ordering

Made to order. Sold per hand unit. Production lead time is approximately 3 months, plus 3–4 days shipping. Select your configuration above and request a quote. Include left or right hand preference, quantity, target platform, and any add-ons needed. Knoxlabs sources directly from Tesollo and can include this product in a full robotics stack quote alongside MANUS gloves and SenseGlove.