Human-like motion
22 joints and 18 active degrees of freedom, including wrist pitch and lateral motion. The thumb has 4 active DOF and each other finger has 3, enabling coordinated, precise manipulation.
Gaoshan S1
Anthropomorphic dexterous hand
Dexterity for embodied intelligence
Built for embodied intelligence and robotics, Gaoshan S1 combines an anthropomorphic five-finger design and lightweight tendon-driven architecture with multimodal sensing and high-performance motion control for precise grasping and complex manipulation.
For humanoid robots, robotics research, teleoperation and data collection.
- Joints / active DOF
- 22 / 18
- Max. fingertip force
- 30 N
- Max. grip force
- 100 N
- Max. lifting load
- 25 kg
- Full-hand opening / closing
- 3 Hz
- Min. grasp diameter
- 9 mm
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Fine control for dexterous manipulation
Multimode closed-loop control
18-axis control with a control-loop frequency > 1 kHz, with torque, position, velocity, hybrid force-position and tactile-assisted hybrid control. A built-in motion library provides preset gestures and grasping actions.
Fingertip touch and multimodal sensing
3D fingertip tactile sensing with 116 sensing points per sensor, a minimum detectable force of 0.1 N and 1 mm spatial resolution. Joint angles, a 6-axis IMU, ambient temperature and humidity, and tendon-drive status complete the sensing system.
Core specifications
- Structure & transmission
- Anthropomorphic five-finger hand; direct, tendon and linkage transmission
- Overall dimensions
- 109.9 × 92.33 × 439.45 mm
- Weight
- 1.8 kg
- Cooling method
- Air cooling
- Max. joint angular speed
- 360°/s
- Control mode
- Position control, hybrid force-position control
- Control frequency
- Control loop > 1 kHz
- Position sensing
- High-precision joint angle sensing
- Tactile sensing
- 3D fingertip force sensing
- Ambient temperature & humidity sensing
- Supported
- Orientation sensing
- Built-in 6-axis IMU
- Tendon-drive module monitoring
- Comprehensive voltage, current, temperature, tension and limit-status sensing
- Rated power supply
- DC 24 V / 7.5 A (20–30 V supported)
- Electrical connectors
- XT30 power; 4-pin M8 EtherCAT; 8-pin M8 CAN / RS-485
- Operating environment
- 0–45°C; 10%–90% RH, non-condensing
DEVELOPMENT & INTEGRATION
From hardware integration to simulation
Communication interfaces
- EtherCAT
- 500 Hz
- RS-485
- 200 Hz
- CAN (CAN FD)
- 100 Hz
Values are interface control rates. EtherCAT is recommended and is currently the only interface supporting tactile array data transmission.
Software and simulation tools
- C++ SDK / Low Level API: device management, joint control and state feedback
- ROS 2 · Topic / Service / Action · ros2_control
- URDF / MJCF / USD models for Gazebo, MuJoCo and Isaac Sim
- Juexian desktop client: configuration, monitoring and firmware updates
CONFIGURATIONS
Choose a single hand or a pair
S1-L-FT
Left hand with fingertip tactile sensing
S1-R-FT
Right hand with fingertip tactile sensing
S1-LR-FT
Pair with fingertip tactile sensing
S1-L-FT + S1-R-FT
Included with each hand One dexterous hand, USB-to-RS-485 adapter, XT30 power cable, EtherCAT cable, CAN + RS-485 cable and protective carrying case.
Optional accessories 24 V / 7.5 A power adapter, display base and adapter flange.
Source: Gaoshan S1 Product Technical Specifications V0.1 (2026-09).