#Psyonic Ability Hand (1)

Psyonic Ability Hand Bionic Hand with Tactile Feedback

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.

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