Psyonic Ability Hand Bionic Hand with Tactile Feedback
Vendor: Psyonic
Product: Ability Hand
The Psyonic Ability Hand (MK9.5) is a 6-DoF bionic dexterous hand for prosthetics and robotics research: 1 DoF per finger plus 2 DoF in the thumb, driven by 6 brushless DC motors at just 440–470 g total weight (Large 186×85 mm / Small 180×85 mm). Strong grasping: 78 N power grip, 8 N pinch, 17 N key grip, 0.2 s finger close time, peak angular speed 462°/s for fingers and 1848°/s for the thumb, with axial load capacity up to 45.4 kg (thumb 27.2 kg). Rich tactile sensing: 30 force-sensing resistors (6 per digit) plus 6 encoders streamed in real time, 1 kHz closed-loop control in position/current/velocity/duty modes, and 32 grip patterns (19 pre-defined). Powered at 6–12 V (14 A peak, 74 mA quiescent) with an onboard 2200 mAh battery and ~1-hour 30 W / 12 V / 2.5 A fast charging; IP64 rated, touchscreen-compatible fingertips, and an electric + manually rotatable thumb. Open software ecosystem: Python/C++ APIs, ROS 2, NVIDIA Isaac Sim/Isaac Lab support and URDF models, with BLE/I2C/UART/RS485 interfaces.
| DoF | 6（ 1 + 2） |
| Size | 186×85 mm / 180×85 mm |
| Type | dexterous-hand |
| Power | 6–12 V 14 A / 74 mA 2200 mAh 30 W approx. 1 h |
| Weight | 470 g / 440 g |
| Control | 1 kHz / / / 32 （19 ） |
| Fingers | 5 |
| Sensing | 30 （ 6 ）+ 6 |
| Software | Python / C++ / ROS 2 / Isaac Sim / Isaac Lab / URDF（ ability-hand-api） |
| Max Speed | 462°/s 1848°/s |
| Axial Load | 45.4 kg（ 27.2 kg） |
| Grip Force | 78 N / 8 N / 17 N |
| Interfaces | BLE / I2C / UART / RS485 |
| Protection | IP64 + |
| Finger Close Time | 0.2 s |