RH6D

The RH6D is a child-sized dexterous robotic hand developed by Seed Robotics, designed to fit humanoid robots up to approximately 1.2 m tall and compatible robot arms. It features 15 degrees of freedom with an opposable thumb, driven by 6 smart actuators that provide real-time position, speed, and current feedback for force inference. The hand uses an underactuated design for adaptive grasping, with 3-segment fingers on Kevlar fibre tendons and magnetic detachment for durability. Optional FTS tactile pressure sensors (1 mN resolution) are available at each fingertip. It uses Dynamixel Protocols 1.0 and 2.0, integrates with ROS via a URDF model, and includes an IR palm distance sensor for object detection. Target applications include HRI research, prosthetics development, and neuro-cognitive studies.

Primary use case: Dexterous manipulation and human-robot interaction research for child-sized humanoid robots, prosthetics, and rehabilitation

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