OrcaHand Touch
The OrcaHand Touch is the tactile-sensing variant of the OrcaHand, developed by the Soft Robotics Lab at ETH Zurich. Building on the base OrcaHand platform (open-source, 17-DOF, tendon-driven, anthropomorphic), the Touch version integrates tactile sensors beneath a soft silicone skin across the fingertips and hand surface, enabling contact detection and grip force feedback for adaptive manipulation. Like the base OrcaHand, it supports teleoperation with devices such as ROKOKO gloves and Apple Vision Pro, as well as imitation learning and reinforcement learning workflows. All design files are open-source.
Primary use case: Tactile-enabled dexterous manipulation research, including contact-rich grasping, teleoperation, and learning-based control
Weight
1.2 kg
Specifications
Physical
Weight
1.2 kg
Locomotion
stationary
Manipulation
Max Lift/Arm
7 kg
Commercial
Availability
research
Primary Use Case
Tactile-enabled dexterous manipulation research, including contact-rich grasping, teleoperation, and learning-based control