Overview
BrainCo's intelligent bionic dexterous hand Revo 2 is based on the mature technology iteration and upgrade of prosthetic hands and the Revo 1 dexterous hand, continuing the stability and high performance advantages of its predecessor. The Revo 2 dexterous hand is equipped with 6 motors, has 6 active joints, and a total of 11 degrees of freedom. It weighs 383g, has a size of 160mm, an active gripping force of 50N, and a maximum load of 20kg, achieving an extreme load while being lightweight and compact, with a bionic and aesthetic appearance. The Revo 2 dexterous hand can be equipped with multi-dimensional tactile perception capabilities, is industry-leading in stable mass production, and is reliable in quality. It supports multiple communication protocols including 485, CANfd, and EtherCAT, with a maximum communication support of 1KHz, enabling high-speed real-time communication. It supports SDK, is compatible with Linux, Windows, and ROS, and supports high-speed secondary development. It features customizable gestures, multiple protections, servo control algorithms, tactile adaptive gripping, OTA online upgrades, and more, facilitating the rapid implementation of dexterous scenarios.
Product size
Product parameters
| Product name | Product rendering image | |||
|---|---|---|---|---|
| Biomimetic dexterous hand Revo2 |     | |||
| Standard colors: Space Gray, Silver (supports bulk color customization) | ||||
| Model | BASIC | PRO | TOUCH | |
| Version code | XRL/XRR | XEL/XER | XTL/XTR | |
| Main parameters | degree of freedom | 11（6 active） | ||
| Weight | 383 g | |||
| Height (from the base of the palm to the tip of the middle finger) | 160 mm | |||
| Grip strength of five fingers | ≥50N | |||
| Pinch strength | ≥15N | |||
| Full load | ≥20kg | |||
| Operating Noise（50cm） | ≤50dB | |||
| Flexion and Extension speed | ≤0.65s | |||
| Communication interface | 485 CANfd | 485 CANfd EtherCAT | 485 CANfd EtherCAT | |
| Supply voltage | 12-28V | 12-64V | 12-64V | |
| Static Current | 65 mA @24V | 115 mA @24V | 115 mA @24V | |
| No-load Average Current (five-finger flexion and extension) | 350mA @24V | 390mA @24V | 390mA @24V | |
| Maximum Current | 4.6 A @24V | 4.65A @24V | 4.65A @24V | |
| Repetitive control precision | 0.1° | 0.1° | 0.1° | |
| Maximum opening and closing distance | 100mm(from thumb to index finger) | |||
| Operating temperature | -10 - 40℃ / 90%RH | |||
| Tactile module | / | Multi-dimensional fingertip tactile module | ||
| Smart Control | Position, velocity, current feedback control Cascaded control, compliance control | Position, velocity, current feedback control Cascaded control, compliance control Tactile Adaptive Control | ||
| Smart Protection | Current protection, stall protection, high-temperature protection, anti-collision protection | |||
| Secondary development | SDK supports Python/C and is compatible with Linux/Windows/ROS systems. | |||
| Online upgrade | Support OTA online upgrades | |||
Parameter description
Degree of freedom distribution
The Revo 2 dexterous hand has 6 active joints and a total of 11 degrees of freedom. The thumb has two active degrees of freedom for abduction and adduction, as well as one passive degree of freedom for flexion and extension, while each of the remaining four fingers has one active degree of freedom for flexion and extension and one passive degree of freedom for flexion and extension.
Range of motion
| Active Joint | Degrees of Freedom | Minimum Angle (°) | Maximum Angle (°) |
|---|---|---|---|
| Thumb Flex | Flexion/Extension | 0 | 59 |
| Thumb Aux | Adduction/Abduction | 0 | 90 |
| Index Finger | Flexion/Extension | 0 | 81 |
| Middle Finger | Flexion/Extension | 0 | 81 |
| Ring Finger | Flexion/Extension | 0 | 81 |
| Little Finger | Flexion/Extension | 0 | 81 |
Definition of the back of hand light status
| Light Effect | Description |
|---|---|
| Green light blinking | Powering on (not completed reset) |
| Green light solid | Normal operation (reset completed) |
| Yellow light blinking | Power supply too low |
| Cyan light solid | OTA upgrading in progress |
| Red light solid | Abnormal |
Back of hand button function description
| Function | Button |
|---|---|
| Reset | Short press |
| Restore factory settings | Long press for 5 seconds |
| Pack gesture | Short press 2 times |
Motor ID and status
| Motor ID | Description |
|---|---|
| FINGERID_THUMB | Thumb Flex |
| FINGERID_THUMB_AUX | Thumb Aux |
| FINGERID_INDEX | Index |
| FINGERID_MIDDLE | Middle |
| FINGERID_RING | Ring |
| FINGERID_PINKY | Pinky |
| Motor status | Description |
|---|---|
| MOTOR_IDLE | Joint Idle |
| MOTOR_RUNNING | Joint Running |
| MOTOR_STALL | Joint Stall |
| MOTOR_TURBO | turbo |
Control mode description
| Serial Number | Control Mode | Description |
|---|---|---|
| 1 | Position + Time | Arrive at the exact location within the precise time; when time is not specified, arrive at the designated location at maximum speed. |
| 2 | Position + Speed | Reach the target position at the target speed; when the speed is not specified, reach the target position at maximum speed. |
| 3 | Speed | Move at the target speed until the limit is reached or it is stalled. |
| 4 | Current | Controlled at the target current until the limit or stall. |
| 5 | PWM | Control with the target PWM until the limit is reached or it stalls. |
Turbo Mode Description
Turbo mode is implemented based on the stall function. After the motor stalls for a certain period (stall time), it resumes movement, periodically executing stop and continue motion. In specific situations where reliable gripping is required, we provide Turbo mode, where every 500ms, the fingers actively grip to achieve a sustained and reliable gripping force.
Device ID description
For Revo 2, default ID for the left hand is 126, and for the right hand, it is 127. Users can modify them within the range of 1 - 254.
Description of the power-on self-reset mode
The automatic reset upon powering on refers to the dexterous hand automatically executing position calibration after being powered on. Upon startup, the dexterous hand will search for the starting position of the fingers, during which all fingers will be activated.
Note 1: During the position calibration process, if the dexterous hand is gripping an object, there may be a risk of dropping it.
Note 2: After the dexterous hand is powered on, position calibration must be performed once to enable normal control.
Communication interface description
Revo 2 Basic
The basic version of the second-generation hand can communicate and control via the 485 or CAN FD communication interface. The interface is located under the wrist, and the connector model is BM05B-PASS-TFT(LF)(SN)。
Revo 2 Pro&Touch
The second generation hand advanced version and tactile version support three communication interfaces: 485/CAN FD/EtherCAT for communication and control, with the interface located below the wrist.
| Interface | Connector Model |
|---|---|
| 485 | A1257WV-S-2P-6T |
| CAN FD | A1257WV-S-2P-6T |
| EtherCAT | A1257WV-S-5P-6T |
| VCC | XT30UPB-M |