About Model Q

The Model Q includes two independently-driven, precision-grasping fingers, in addition to a set of rotating, power-grasping fingers. This mechanical configuration allows for finger-gaiting while also retaining the passive adaptability and other capabilities of the underactuated finger pairs. As a result, the hand, requiring only four actuators, is capable of a unique set of dexterous manipulation primitives, including finger-gaiting and precision manipulation, while retaining the robust, adaptive precision and power grasping behavior of underactuated hands.

Raymond R. Ma and Aaron M. Dollar
"An Underactuated Hand for Efficient Finger-Gaiting-Based Dexterous Manipulation," proceedings of the 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2014.

Design Options





  • Actuators: 4x Dynamixel XM430-W350-R
  • Base Height: 75mm
  • Base Diameter: 120mm
  • Weight: 740g