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Description
Unitree Robotics -- Official End-Effector
Unitree R1 Dedicated LinkerBot Linker Hand O6 (Tactile Version)
Official bionic dexterous hand for the Unitree R1 humanoid robot. LinkerBot Linker Hand O6 (Tactile Version) adds haptic feedback to the proven O6 platform, featuring 6 degrees of freedom across 11 joints (6 active + 5 passive), a lightweight 370g aluminum alloy and engineering polymer construction, and a powerful linkage drive mechanism delivering 70N maximum grip force and an exceptional 50kg payload capacity. Includes a wrist-mounted RGB Camera (FOV 160) with dedicated mount for visual feedback, plus CAN and RS-485 communication interfaces. This listing is for a single hand -- typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
Haptic
Tactile Feedback
70N
Max Grip Force
50kg
Max Payload
370g
Weight
0.2mm
Repeatability
Product Overview
The Unitree R1 Dedicated LinkerBot Linker Hand O6 (Tactile Version) is the official bionic dexterous hand for the Unitree R1 humanoid robot, engineered by LinkerBot (China) for high-performance manipulation with tactile awareness. Building on the proven O6 Non-Tactile platform, the Tactile Version adds haptic feedback capability that enables the hand to sense and respond to contact forces in real time. The O6 features a linkage drive mechanism powered by high-torque servo modules with worm gear transmission, delivering 70N maximum grip force across all five fingers and an industry-leading 50kg maximum payload -- all in an exceptionally lightweight 370g package. The hand provides 6 active degrees of freedom across 11 total joints, enabling natural finger flexion, extension, and thumb opposition. A wrist-mounted RGB Camera (FOV 160) with dedicated mount provides color visual feedback for object recognition and grasp verification. Dual communication interfaces (CAN and RS-485) ensure seamless integration with the R1 robot control system.
Haptic Feedback -- Tactile Awareness
Integrated haptic feedback system provides real-time tactile sensing capabilities. Enables the hand to detect contact forces, object stiffness, and surface texture for adaptive, force-controlled grasping.
6 Active DOF, 11 Total Joints
6 active + 5 passive degrees of freedom distributed across 5 fingers. The hybrid joint structure enables both delicate precision grasps and powerful full-hand grips for versatile manipulation.
70N Grip / 50kg Payload
70N maximum grip force (all five fingers), 25N maximum fingertip force (four fingers), and 20N maximum thumb fingertip force. Exceptional 50kg payload capacity for heavy-object manipulation.
Linkage Drive Mechanism
High-torque servo modules with worm gear transmission and linkage drive deliver efficient force transmission. Main structural material: aluminum alloy + engineering polymers for strength and lightness.
Wrist-Mounted RGB Camera (FOV 160)
RGB camera with 160 degrees field of view mounted at the wrist with dedicated mount. Provides color visual feedback for object recognition, visual servoing, and grasp verification.
CAN + RS-485 Communication
Dual communication interfaces for reliable, real-time control. Compatible with standard robotics middleware and the Unitree R1 control architecture.
Haptic Feedback -- Tactile Intelligence
The Linker Hand O6 Tactile Version integrates a haptic feedback system that transforms the hand from a position-controlled end-effector into a touch-aware manipulation system. This tactile intelligence enables safer, more adaptive, and more successful grasping across a wide range of object types:
Contact Detection
Force Sensing
Detects contact forces at the fingertips and palm in real time. Enables the control system to know exactly when and how hard the hand is touching an object.
Adaptive Grasping
Force Modulation
Automatically adjusts grip force based on tactile feedback. Prevents over-gripping fragile objects and maintains secure hold on slippery or heavy items.
Slip Detection
Real-Time Response
Senses incipient slip before the object drops and triggers immediate corrective force increase. Critical for reliable manipulation of smooth or irregular surfaces.
Object Characterization
Stiffness & Texture
Haptic data reveals object stiffness, surface texture, and weight distribution. Enables the robot to classify objects and select optimal grasp strategies automatically.
Linkage Drive & Mechanical Design
The Linker Hand O6 employs an advanced linkage drive mechanism that converts motor torque into precise finger motion through a system of rigid links and joints. This design achieves exceptional force output and reliability:
Drive
Linkage Drive Mechanism
Rigid link-based force transmission delivers high mechanical advantage and precise motion control. More robust and backlash-free compared to tendon-driven alternatives.
Motors
High-Torque Servo Modules
Equipped with worm gear transmission for self-locking capability and high torque density. Prevents back-driving under load for stable grasping.
Materials
Aluminum + Polymers
Aluminum alloy structural frame combined with engineering polymers for finger segments. Optimized strength-to-weight ratio at 370g total.
Hybrid Joints
Adaptive Grasping
Hybrid joint structure adapts naturally to different object shapes. Grasps both delicate and irregular items with improved stability and compliance.
Force & Precision Performance
The Linker Hand O6 delivers class-leading force output and positioning precision for demanding manipulation tasks:
Maximum Grip Force -- 70N
70N total grip force when all five fingers engage simultaneously. Enables secure handling of heavy and large objects up to 50kg payload.
Fingertip Forces -- 25N / 20N
25N maximum fingertip force for the four fingers and 20N for the thumb. Distributed force capability supports both power grasps and precision pinches.
Repeatability -- <0.20mm
Sub-0.20mm repeatability accuracy ensures consistent grasp positioning. Critical for repetitive pick-and-place, assembly, and insertion tasks.
50kg Maximum Payload
Exceptional 50kg payload capacity -- among the highest in its weight class. Enables the R1 robot to manipulate heavy tools, boxes, and equipment.
Integrated Vision & Communication
The O6 Tactile Version includes a wrist-mounted vision system and dual communication interfaces for seamless integration with the Unitree R1:
Wrist-Mounted RGB Camera
RGB camera with 160 degrees field of view mounted at the wrist. Provides color visual feedback for object detection, pose estimation, and grasp planning directly at the end-effector.
RGB Camera Dedicated Mount
Precision dedicated mount for the wrist-mounted RGB camera. Optimized positioning for maximum field of view coverage and minimal occlusion during grasping operations.
CAN Bus Interface
Controller Area Network (CAN) interface for robust, real-time multi-node communication. Standard in industrial robotics and automotive applications.
RS-485 Interface
RS-485 serial communication for long-distance, noise-resistant data transmission. Widely supported across robotics platforms and development frameworks.
What's Included (Per Hand)
Each Linker Hand O6 Tactile Version package contains the following components for a single dexterous hand:
Hand
Linker Hand O6 Tactile Unit
Complete dexterous hand assembly with linkage drive, haptic feedback, 6 active DOF, 11 joints, and aluminum alloy + polymer construction.
Vision
RGB Camera (FOV 160)
Wrist-mounted RGB camera with 160 degrees field of view for color visual feedback at the end-effector.
Mount
RGB Camera Dedicated Mount
Precision dedicated mount for the wrist-mounted RGB camera. Optimized for maximum FOV coverage and minimal occlusion.
Cables
Power & Data Cables
All necessary power and communication cables for CAN and RS-485 connection to the R1 robot, plus haptic sensor wiring.
Important Notes
- This package includes a wrist-mounted RGB Camera (FOV 160) with dedicated mount and other accessories including cables.
- This is the Tactile Version and includes haptic feedback for tactile sensing and adaptive grasping.
- This is the price and information for a single hand. Typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
- The Linker Hand O6 is manufactured by LinkerBot (China). Specifications are based on manufacturer data and may vary slightly by production batch.
- Secondary development requires programming knowledge and familiarity with robotics control concepts and CAN/RS-485 communication protocols.
Technical Specifications
| Parameter | Unitree R1 LinkerBot Linker Hand O6 (Tactile) |
| Product Name | LinkerBot Linker Hand O6 (Tactile Version) (includes RGB camera) |
| Compatible Robot | Unitree R1 humanoid robot |
| Total Degrees of Freedom | 11 (6 active + 5 passive) |
| Active Joints | 6 |
| Weight | 370 g |
| Dimensions (L x W x H) | 177 x 76.5 x 40 mm |
| Number of Fingers | 5 |
| Drive Mechanism | Linkage drive with worm gear transmission |
| Main Structural Material | Aluminum alloy + engineering polymers |
| Maximum Grip Force (all 5 fingers) | 70 N |
| Max Fingertip Force (thumb) | 20 N |
| Max Fingertip Force (4 fingers) | 25 N |
| Maximum Payload | 50 kg |
| Repeatability | < 0.20 mm |
| Tactile/Force Sensors | Haptic feedback included (Tactile Version) |
| Wrist-Mounted RGB Camera | RGB Camera (FOV 160) x1 |
| RGB Camera Dedicated Mount | x1 (included) |
| Communication Interface | CAN, RS-485 |
| Motor Technology | High-torque servo modules |
| Manufacturer | LinkerBot (China) |
| Package Contents | Hand unit, RGB camera, dedicated mount, cables and other accessories |
| Package Quantity | Single hand per package |
| Typical Robot Configuration | Two hands per humanoid robot (dual-arm) |
| Warranty | 12 months |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* This package includes a wrist-mounted RGB Camera (FOV 160) with dedicated mount and other accessories including cables.
* This is the Tactile Version and includes haptic feedback for tactile sensing and adaptive grasping.
* This package includes one dexterous hand. For dual-arm manipulation, order two units.
* Secondary development requires programming skills and familiarity with robotics control concepts and CAN/RS-485 protocols.
* Unitree is a registered trademark of Unitree Robotics. LinkerBot is a registered trademark of LinkerBot.
Description
Unitree Robotics -- Official End-Effector
Unitree R1 Dedicated LinkerBot Linker Hand O6 (Tactile Version)
Official bionic dexterous hand for the Unitree R1 humanoid robot. LinkerBot Linker Hand O6 (Tactile Version) adds haptic feedback to the proven O6 platform, featuring 6 degrees of freedom across 11 joints (6 active + 5 passive), a lightweight 370g aluminum alloy and engineering polymer construction, and a powerful linkage drive mechanism delivering 70N maximum grip force and an exceptional 50kg payload capacity. Includes a wrist-mounted RGB Camera (FOV 160) with dedicated mount for visual feedback, plus CAN and RS-485 communication interfaces. This listing is for a single hand -- typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
Haptic
Tactile Feedback
70N
Max Grip Force
50kg
Max Payload
370g
Weight
0.2mm
Repeatability
Product Overview
The Unitree R1 Dedicated LinkerBot Linker Hand O6 (Tactile Version) is the official bionic dexterous hand for the Unitree R1 humanoid robot, engineered by LinkerBot (China) for high-performance manipulation with tactile awareness. Building on the proven O6 Non-Tactile platform, the Tactile Version adds haptic feedback capability that enables the hand to sense and respond to contact forces in real time. The O6 features a linkage drive mechanism powered by high-torque servo modules with worm gear transmission, delivering 70N maximum grip force across all five fingers and an industry-leading 50kg maximum payload -- all in an exceptionally lightweight 370g package. The hand provides 6 active degrees of freedom across 11 total joints, enabling natural finger flexion, extension, and thumb opposition. A wrist-mounted RGB Camera (FOV 160) with dedicated mount provides color visual feedback for object recognition and grasp verification. Dual communication interfaces (CAN and RS-485) ensure seamless integration with the R1 robot control system.
Haptic Feedback -- Tactile Awareness
Integrated haptic feedback system provides real-time tactile sensing capabilities. Enables the hand to detect contact forces, object stiffness, and surface texture for adaptive, force-controlled grasping.
6 Active DOF, 11 Total Joints
6 active + 5 passive degrees of freedom distributed across 5 fingers. The hybrid joint structure enables both delicate precision grasps and powerful full-hand grips for versatile manipulation.
70N Grip / 50kg Payload
70N maximum grip force (all five fingers), 25N maximum fingertip force (four fingers), and 20N maximum thumb fingertip force. Exceptional 50kg payload capacity for heavy-object manipulation.
Linkage Drive Mechanism
High-torque servo modules with worm gear transmission and linkage drive deliver efficient force transmission. Main structural material: aluminum alloy + engineering polymers for strength and lightness.
Wrist-Mounted RGB Camera (FOV 160)
RGB camera with 160 degrees field of view mounted at the wrist with dedicated mount. Provides color visual feedback for object recognition, visual servoing, and grasp verification.
CAN + RS-485 Communication
Dual communication interfaces for reliable, real-time control. Compatible with standard robotics middleware and the Unitree R1 control architecture.
Haptic Feedback -- Tactile Intelligence
The Linker Hand O6 Tactile Version integrates a haptic feedback system that transforms the hand from a position-controlled end-effector into a touch-aware manipulation system. This tactile intelligence enables safer, more adaptive, and more successful grasping across a wide range of object types:
Contact Detection
Force Sensing
Detects contact forces at the fingertips and palm in real time. Enables the control system to know exactly when and how hard the hand is touching an object.
Adaptive Grasping
Force Modulation
Automatically adjusts grip force based on tactile feedback. Prevents over-gripping fragile objects and maintains secure hold on slippery or heavy items.
Slip Detection
Real-Time Response
Senses incipient slip before the object drops and triggers immediate corrective force increase. Critical for reliable manipulation of smooth or irregular surfaces.
Object Characterization
Stiffness & Texture
Haptic data reveals object stiffness, surface texture, and weight distribution. Enables the robot to classify objects and select optimal grasp strategies automatically.
Linkage Drive & Mechanical Design
The Linker Hand O6 employs an advanced linkage drive mechanism that converts motor torque into precise finger motion through a system of rigid links and joints. This design achieves exceptional force output and reliability:
Drive
Linkage Drive Mechanism
Rigid link-based force transmission delivers high mechanical advantage and precise motion control. More robust and backlash-free compared to tendon-driven alternatives.
Motors
High-Torque Servo Modules
Equipped with worm gear transmission for self-locking capability and high torque density. Prevents back-driving under load for stable grasping.
Materials
Aluminum + Polymers
Aluminum alloy structural frame combined with engineering polymers for finger segments. Optimized strength-to-weight ratio at 370g total.
Hybrid Joints
Adaptive Grasping
Hybrid joint structure adapts naturally to different object shapes. Grasps both delicate and irregular items with improved stability and compliance.
Force & Precision Performance
The Linker Hand O6 delivers class-leading force output and positioning precision for demanding manipulation tasks:
Maximum Grip Force -- 70N
70N total grip force when all five fingers engage simultaneously. Enables secure handling of heavy and large objects up to 50kg payload.
Fingertip Forces -- 25N / 20N
25N maximum fingertip force for the four fingers and 20N for the thumb. Distributed force capability supports both power grasps and precision pinches.
Repeatability -- <0.20mm
Sub-0.20mm repeatability accuracy ensures consistent grasp positioning. Critical for repetitive pick-and-place, assembly, and insertion tasks.
50kg Maximum Payload
Exceptional 50kg payload capacity -- among the highest in its weight class. Enables the R1 robot to manipulate heavy tools, boxes, and equipment.
Integrated Vision & Communication
The O6 Tactile Version includes a wrist-mounted vision system and dual communication interfaces for seamless integration with the Unitree R1:
Wrist-Mounted RGB Camera
RGB camera with 160 degrees field of view mounted at the wrist. Provides color visual feedback for object detection, pose estimation, and grasp planning directly at the end-effector.
RGB Camera Dedicated Mount
Precision dedicated mount for the wrist-mounted RGB camera. Optimized positioning for maximum field of view coverage and minimal occlusion during grasping operations.
CAN Bus Interface
Controller Area Network (CAN) interface for robust, real-time multi-node communication. Standard in industrial robotics and automotive applications.
RS-485 Interface
RS-485 serial communication for long-distance, noise-resistant data transmission. Widely supported across robotics platforms and development frameworks.
What's Included (Per Hand)
Each Linker Hand O6 Tactile Version package contains the following components for a single dexterous hand:
Hand
Linker Hand O6 Tactile Unit
Complete dexterous hand assembly with linkage drive, haptic feedback, 6 active DOF, 11 joints, and aluminum alloy + polymer construction.
Vision
RGB Camera (FOV 160)
Wrist-mounted RGB camera with 160 degrees field of view for color visual feedback at the end-effector.
Mount
RGB Camera Dedicated Mount
Precision dedicated mount for the wrist-mounted RGB camera. Optimized for maximum FOV coverage and minimal occlusion.
Cables
Power & Data Cables
All necessary power and communication cables for CAN and RS-485 connection to the R1 robot, plus haptic sensor wiring.
Important Notes
- This package includes a wrist-mounted RGB Camera (FOV 160) with dedicated mount and other accessories including cables.
- This is the Tactile Version and includes haptic feedback for tactile sensing and adaptive grasping.
- This is the price and information for a single hand. Typically, two dexterous hands are selected per humanoid robot for dual-arm manipulation.
- The Linker Hand O6 is manufactured by LinkerBot (China). Specifications are based on manufacturer data and may vary slightly by production batch.
- Secondary development requires programming knowledge and familiarity with robotics control concepts and CAN/RS-485 communication protocols.
Technical Specifications
| Parameter | Unitree R1 LinkerBot Linker Hand O6 (Tactile) |
| Product Name | LinkerBot Linker Hand O6 (Tactile Version) (includes RGB camera) |
| Compatible Robot | Unitree R1 humanoid robot |
| Total Degrees of Freedom | 11 (6 active + 5 passive) |
| Active Joints | 6 |
| Weight | 370 g |
| Dimensions (L x W x H) | 177 x 76.5 x 40 mm |
| Number of Fingers | 5 |
| Drive Mechanism | Linkage drive with worm gear transmission |
| Main Structural Material | Aluminum alloy + engineering polymers |
| Maximum Grip Force (all 5 fingers) | 70 N |
| Max Fingertip Force (thumb) | 20 N |
| Max Fingertip Force (4 fingers) | 25 N |
| Maximum Payload | 50 kg |
| Repeatability | < 0.20 mm |
| Tactile/Force Sensors | Haptic feedback included (Tactile Version) |
| Wrist-Mounted RGB Camera | RGB Camera (FOV 160) x1 |
| RGB Camera Dedicated Mount | x1 (included) |
| Communication Interface | CAN, RS-485 |
| Motor Technology | High-torque servo modules |
| Manufacturer | LinkerBot (China) |
| Package Contents | Hand unit, RGB camera, dedicated mount, cables and other accessories |
| Package Quantity | Single hand per package |
| Typical Robot Configuration | Two hands per humanoid robot (dual-arm) |
| Warranty | 12 months |
* Specifications are based on manufacturer data and may vary slightly by production batch.
* This package includes a wrist-mounted RGB Camera (FOV 160) with dedicated mount and other accessories including cables.
* This is the Tactile Version and includes haptic feedback for tactile sensing and adaptive grasping.
* This package includes one dexterous hand. For dual-arm manipulation, order two units.
* Secondary development requires programming skills and familiarity with robotics control concepts and CAN/RS-485 protocols.
* Unitree is a registered trademark of Unitree Robotics. LinkerBot is a registered trademark of LinkerBot.
Unitree
by
Unitree
Unitree R1 LinkerBot Linker Hand O6 (Tactile Version) (includes RGB camera)
SKU:
LinkerBot-Linker-Hand-O6-Tactile
- Regular price
- $1,790.00
- Sale price
- $1,790.00
- Regular price
-
- Unit price
- per
Shipping calculated at checkout.
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Providing the best new Tech Experience, Energy Independence and Robotics Ways of Optimisation
Packaging note:
Equipment is being supplied in a manufacturer packaging
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