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Wuji Hand 2

Five-Finger Dexterous Robot Hand (Direct Drive)

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Active Joints
20
4 per finger, all independent
Control Rate
1000 Hz
On all 20 axes
Weight
~800 g
Bare hand 650 g
Size
180 x 80 x 40 mm
Close to a human hand
Fingertip Force
≥ 12 N
Provisional value (Beta)
Joint Backlash
< 1°
Provisional value (Beta)

The Wuji Hand 2 is a five-finger dexterous robot hand from Shenzhen-based Wuji Technology. Each of its 20 joints is driven independently by its own motor (4 active joints per finger); the fully direct-drive design has no tendons and no gear train, and every axis is back-drivable.

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With 1000 Hz control on 20 axes, an Ethernet interface, a weight of about 800 g and a size of 180 x 80 x 40 mm it mounts on a humanoid's wrist or on a robot arm's flange. The Python and C SDK, ROS 2 packages and URDF, MJCF and USD models are published as open source.

Enterprise supply · specification support · integration engineering

Overview

Wuji Technology (Chinese 舞肌科技) is a robot hand maker founded in 2019 and based in Shenzhen, with a second office in Beijing. The company started with high torque-density micro motors and turned fully to dexterous hands at the end of 2023; it develops its own motors, reducers and controllers. According to press reports its investors include Zhenfund, Sequoia China, 5Y Capital, Ant Group and Meituan Longzhu.

The first-generation Wuji Hand was introduced in September 2025; the Wuji Hand 2 was first shown at ICRA in June 2026. All 20 joints of the Hand 2 are fully direct-drive and each is controlled independently; the hand runs at 1000 Hz over Ethernet and weighs about 800 g.

The manufacturer's documentation describes the current hand as the Wuji Hand 2.2 (Beta): the shipping build has no tactile sensing, and some values (fingertip force, payload, lifetime, ingress protection) are provisional or unpublished. This page uses only values from the manufacturer's documentation and marks the provisional ones. Robotlar.org offers the Wuji Hand 2 to research labs, humanoid and dual-arm platform integrators and data collection teams in Turkey through enterprise sourcing, technical specification support and integration engineering.

2 use cases

The Wuji Hand 2 in motion

5 videos: manufacturer footage and field recordings. Tap a cover to play.

Wuji Hand 2 product video

The videos are from the manufacturer's official YouTube channel. Skills such as pen spinning come from policies the manufacturer trained and from research setups; the hand does not ship with these skills. Actual performance depends on the project, the training data and the setup.

  • Global debut at ICRA 2026
  • Pen spinning with reinforcement learning
  • Autonomous pen spinning under external disturbance
  • IROS 2026 highlights

Which Hand 2 fits your needs?

The manufacturer's official variant matrix; the values are documented data.

FeatureHand 2 Sol elHand 2 Sağ elHand 2 Sol ve sağ çift
Default IP address192.168.1.110192.168.1.111Two separate addresses on one network
MechanicsMirror-image partsMirror-image partsMirror images, identical mount interface
Simulation modelLeft-hand URDF, MJCF, USDRight-hand URDF, MJCF, USDBoth hand models together
Typical useSingle-arm research, left-hand taskSingle-arm research and arm integrationDual-arm and humanoid setups, two-handed teleoperation
QuoteGet a Quote for This ModelHand 2 Sol elGet a Quote for This ModelHand 2 Sağ elGet a Quote for This ModelHand 2 Sol ve sağ çift

Hand side and quantity are set in the quotation. Default IP addresses come from the manufacturer's documentation; a static IP is used and DHCP is not supported.

Hand 2 Sağ el

A single-hand start for grasping and manipulation research on one arm.

Hand 2 Sol ve sağ çift

For a dual-arm platform, a humanoid body or two-handed teleoperation and data collection.

Use Cases

The use cases the manufacturer defines for the Wuji Hand 2.

  1. Education and research
  2. Factory and production

Key Advantages

Twenty Independent Joints, Direct Drive

Each finger of the Wuji Hand 2 has four joints, and each joint is driven by its own motor.

  • (1) 20 active degrees of freedom in total; no joint is mechanically coupled to another.
  • (2) The motor sits inside the joint and runs with FOC vector control; there is no tendon, cable or gear train.
  • (3) The manufacturer's web table gives joint backlash below 1 degree for the earlier Beta; with no tendons, maintenance items such as tendon tension and cable wear do not arise.
Wuji Hand 2, Twenty Independent Joints, Direct Drive

Back-Drivable Joints, Soft Contact

The second consequence of direct drive is back-drivability: an external force can turn the joint.

  • (1) When the hand meets a surface or an object, the joint yields instead of resisting, so contact stays soft.
  • (2) In the default MIT force-position hybrid mode, stiffness (Kp), damping (Kd) and feed-forward torque are set per joint.
  • (3) This helps policies trained with reinforcement learning stay safe during contact on the real hand.
Wuji Hand 2, Back-Drivable Joints, Soft Contact

Fine Grasps: Spoon, Pen, Lid

Full thumb opposition and a 0 mm minimum grasp diameter make it possible to hold thin objects between two fingertips.

  • (1) In the manufacturer's images the hand holds a spoon between the index and thumb tips.
  • (2) In the manufacturer's official videos the Hand 2 spins a pen with a policy trained in simulation with reinforcement learning; in one video this continues under external disturbance.
  • (3) These skills do not ship with the hand; they come from policies the research team trains.
Wuji Hand 2, Fine Grasps: Spoon, Pen, Lid

Precise Work With a Fingertip

The hard nail section at the fingertip is for work the soft layer cannot do.

  • (1) In the manufacturer's image the hand opens a drink can's tab with the nail tip.
  • (2) The manufacturer's documentation lists fingertip softness and the skin design as not yet final for the 2.2 build.
Wuji Hand 2, Precise Work With a Fingertip

Full Power Grasp

Five fingers and the palm wrap around a cylindrical object together.

  • (1) The manufacturer's web table gives a fingertip force of 12 N or more; that value is for the earlier Beta product and may change.
  • (2) Payload and static grip force are not published in the manufacturer's documentation, which states that motor load values are not a basis for design or procurement.
  • Projects with a load requirement ask the manufacturer for the value in writing.
Wuji Hand 2, Full Power Grasp

Close to Human-Hand Size

The open hand measures about 180 x 80 x 40 mm; the index, middle and ring fingers are about 137 mm and the thumb 140 mm.

  • (1) Complete (with soft layer and output cable) it weighs about 800 g; the bare hand weighs 650 g.
  • (2) Objects designed for people (cups, pens, boxes) are grasped at the same scale, and in teleoperation the scale difference between the operator's hand and the robot hand stays small.
Wuji Hand 2, Close to Human-Hand Size

Replaceable Fingers and Skin

The hand is built in three layers.

  • (1) Skeleton: whole fingers can be replaced with the power off.
  • (2) Biomimetic soft layer: replaceable.
  • (3) Passive skin: it does not sense, must always be worn while the hand runs and is user-replaceable. The manufacturer's documentation states clearly that it gives no durability or lifetime guarantee at the 2.2 stage, so spare fingers and skins are discussed separately in the quotation.
Wuji Hand 2, Replaceable Fingers and Skin

Open Developer Ecosystem

Wuji publishes its software in the wuji-technology organisation on GitHub.

  • (1) wuji-sdk: Python and C SDK for Windows, Linux (x86_64 and aarch64) and macOS.
  • (2) wuji-ros2: ROS 2 driver, interface and launch packages with 1000 Hz joint states.
  • (3) wuji-description: URDF, MJCF and USD models plus the palm-mount STEP drawing; wuji-retargeting for hand motion from a glove, Vision Pro or video; wuji-mjlab and wuji-isaaclab for reinforcement learning. Software licences are MIT and Apache-2.0.
Wuji Hand 2, Open Developer Ecosystem

From Simulation to the Real Hand

The wuji-mjlab repository was prepared to train in-hand cube reorientation and reference-tracking pen spinning in simulation and transfer them to the real hand.

  • (1) Training runs with PPO on mjlab and needs Linux and an NVIDIA GPU.
  • (2) The same task is in the wuji-isaaclab repository for Isaac Lab.
  • (3) The models include the soft fingertip as a rigid body; soft deformation is not simulated. The real photo in the image comes from the manufacturer's documentation: the hand holding a marker-tagged cube.
Wuji Hand 2, From Simulation to the Real Hand

Task Data on a Dual-Arm Setup

In the recording from the manufacturer's research article, two robot arms and two Wuji hands with head and wrist cameras pick up a marker, write, transfer and uncap.

  • (1) The tasks are run by a policy trained on demonstrations collected through teleoperation.
  • (2) The manufacturer does not state which hand generation is used in the recording; the video plays at twice the speed.

Teleoperation With the Wuji Glove

The Wuji Glove data glove measures the operator's hand motion and transfers it to the Hand 2.

  • (1) Its 5 electromagnetic pose modules track the fingertips at 120 Hz, and a 526-point tactile matrix records contact.
  • (2) The Hand 2 documentation includes a quick-start chain that runs both products together.
  • (3) The recorded motion and contact data is used to train imitation learning and vision-language-action models.
Wuji Hand 2, Teleoperation With the Wuji Glove

Wuji Hand 2: What It Carries, and Where

20 active joints

4 joints in every finger, each with its own motor. No coupled or passive joints.

Full thumb opposition

The thumb CMC joint abducts from -85° to 40° and meets the fingertips face to face.

Three-layer finger

Skeleton, replaceable soft layer and passive skin. Whole fingers are swapped with the power off.

Palm-bottom mount

One M3 and two M4 holes; wrist flange and adapter in the box, STEP drawing published.

Wuji Hand 2 technical hardware diagram

Direct-drive joint

Motor inside the joint with FOC control. No tendons or gears; the joint yields to external force.

1000 Hz control

Synchronous on 20 axes; MIT force-position hybrid mode by default.

Ethernet and 12 V

RJ45, 100BASE-TX, static IP; 11-13 V DC supply over XT30.

Simulation models

URDF, MJCF and USD; from simulation to the real hand with MuJoCo and Isaac Sim.

The Wuji Hand 2 up close

6 images; tap to enlarge.

Which robot for which job?

The Wuji Hand 2 is a candidate for all of these jobs; in each scenario our catalogue also holds other bodies that can do the same work. The right robot follows from the job itself and the delivery timeline.

University and research lab

University and research lab

The team trains an in-hand cube or pen reorientation policy in simulation with wuji-mjlab or Isaac Lab, loads the same model onto the real hand and measures the differences. Twenty independent joints and 1000 Hz control let the policy work at joint level, and replaceable fingers keep the experiment pace.

ALTERNATIVES FOR THE SAME JOB

Humanoid and dual-arm platform integrator

Humanoid and dual-arm platform integrator

The integrator connects two hands to a dual-arm platform or a humanoid body: designs the wrist adapter from the STEP drawing, routes the Ethernet and 12 V lines along the arm and ties the hand to the arm controller's timeline through ROS 2. Because wrist load and moment values are not published, the arm's payload limit is verified with written confirmation from the manufacturer.

ALTERNATIVES FOR THE SAME JOB

Data collection through teleoperation

Data collection through teleoperation

The operator wears the Wuji Glove and the robot hand follows the motion in real time; camera, joint and contact data are recorded together. The collected demonstrations are used to train imitation learning and vision-language-action models. Near-human size keeps the scale gap between the operator and the robot hand small.

ALTERNATIVES FOR THE SAME JOB

Industrial dexterous manipulation pilot

Industrial dexterous manipulation pilot

The pilot tests work a two-jaw gripper cannot do: opening lids, using tools, grasping differently shaped parts with the same hand. Because the hand is designed for dry and clean environments and durability values are not published, the pilot is planned in a controlled cell with measurable success criteria.

ALTERNATIVES FOR THE SAME JOB

Technical Specifications

21 values in 7 categories; data published by the manufacturer.

General structure
Degrees of freedom
20 active (4 per finger, every joint driven independently)
End effector
Five-finger hand; full thumb opposition and lateral abduction; minimum grasp diameter 0 mm
Joint motor
In-joint direct drive with FOC vector control; no tendons and no gear train, every axis back-drivable
Manufacturer note
Provisional: the manufacturer's documentation describes the 2.2 (Beta) build and states that values do not represent the final product. Fingertip force (12 N or more), open and close speed and joint backlash come from the manufacturer's web table for the earlier Beta. Payload, wrist load and moment, ingress protection, lifetime and repeatability are not published. The external interface (XT30 and RJ45) and the voltage range are reported to change in later 2.2 builds.
Body dimensions
Open hand, fingers together: about 180 x 80 x 40 mm (varies with pose). Finger length: index, middle and ring about 137 mm, little 134 mm, thumb 140 mm
Structure and materials
Three layers: skeleton (whole fingers replaceable with power off), a replaceable biomimetic soft layer and a passive skin that must always be worn
Mounting
Standard wrist flange, adapter and adapter flange in the box. One M3 and two M4 mounting holes under the palm; the palm-mount STEP file and A3 drawing are in the wuji-description repository. Left and right hands are mirror images with an identical mount interface
In the box
Hand, 12 V 20 A power adapter, AC cable, 2 m shielded Cat5e RJ45 cable, 2 m XT30 extension cable, adapter and adapter flange
Software licence
SDK, CLI, ROS 2 packages, models and retargeting under MIT; training repositories (wuji-mjlab, wuji-isaaclab) under Apache-2.0
Availability
The current build in the manufacturer's documentation is Wuji Hand 2.2 (Beta). The first-generation Wuji Hand was introduced in September 2025 with a USB interface; Hand 2 is the generation that followed
Size and weight
Weight
About 0.8 kg (800 g; with soft layer and output cable, base excluded); bare hand 650 g
Motion and performance
Joint range of motion
Thumb: CMC flexion -68° to 74°, CMC abduction -85° to 40°, MCP and IP -60° to 90°. Four fingers: MCP flexion -60° to 90°, MCP abduction -40° to 40°, PIP -60° to 120°, DIP -60° to 90°
Power and runtime
Operating voltage
11-13 V DC (12 V nominal), XT30 connector; 12 V 20 A, at least 200 W adapter in the box
Sensors and connectivity
Sensors
Joint encoders and joint current; IMU data stream in the SDK. External torque estimation from joint current is not validated in 2.2
Interfaces
Python and C SDK (wuji-sdk; Windows x64, Linux x86_64 and aarch64, macOS arm64), Wuji CLI, ROS 2 packages (wuji-ros2, 1000 Hz joint states)
Connectivity
RJ45 Ethernet, 100BASE-TX; static IP (default left 192.168.1.110, right 192.168.1.111, port 50001)
Tactile sensing
No fingertip or skin tactile sensing in the shipping 2.2 (Beta) build; the skin layer is passive
Software and development
Operating system
URDF, MJCF and USD models; MuJoCo and Isaac Sim, with mjlab and Isaac Lab repositories for training
Software features
1000 Hz control on 20 axes; default MIT force-position hybrid mode, position mode (Beta); RGB status light on the back of the hand; over-temperature protection
Environmental resilience
Ingress protection
Not published; no water or dust protection
Operating temperature
15-30 °C recommended; dry and clean environments only

Sources and documents

Verified on the manufacturer page on 13 November 2026.

An itemised quote for the Wuji Hand 2 is prepared by configuration, quantity and delivery scope.

Get a QuoteRequest a Demo
Wuji Hand 2: Technical Assessment for Research and IntegrationDesign decisions, comparison table and evaluation

Who Is It For?

The Hand 2 is positioned for teams that want joint-level control and develop hand dexterity through learning. Twenty independent joints, 1000 Hz control and open models aim at transferring a policy trained in simulation to the real hand.

  • Universities and research labs: in-hand reorientation, grasping and reinforcement learning
  • Humanoid and dual-arm platform integrators: integration through the wrist flange, adapter and ROS 2
  • Data collection teams: teleoperation and imitation learning data with the Wuji Glove
  • Industrial dexterous manipulation pilots: trials with objects and tools designed for people

Build Status and Provisional Values

The manufacturer's documentation names the current hand Wuji Hand 2.2 (Beta) and states that the parameters do not represent the final product status. The firmware of the earlier 2.1 (Beta) build is frozen at v1.2.4. The corporate quotation itemises the build name, firmware version and box contents.

  • No tactile sensing in the shipping 2.2 build; the tactile version the manufacturer showed at launch is not part of this shipment
  • Fingertip force, open and close speed and joint backlash come from the manufacturer's web table for the earlier Beta
  • Payload, wrist load and moment, ingress protection, lifetime and repeatability are not published
  • Heating under sustained full load is not validated by the manufacturer; long full-load tests are not recommended

Integration: Humanoid Robot and Robot Arm

The mechanical connection uses the standard wrist flange and the adapter in the box; because the palm-mount STEP file and A3 drawing are in the wuji-description repository, adapters can be designed for other arms. The manufacturer has no official list of certified arms. The manufacturer's teleoperation repository uses the Tianji arm, and academic papers use xArm and Franka arms.

  • Mounting on humanoids such as the Unitree G1 needs a wrist-specific adapter and cable routing; fit is verified through engineering within the project
  • Communication runs over Ethernet; the arm controller and the hand work on the same network with static IPs
  • The power line is 11-13 V DC; if power comes through the arm, voltage conversion is planned
  • Wrist load, moment and cable bend radius limits are not published yet; the values are requested from the manufacturer in writing

Place in Research

Wuji hands appear in public research work and in the manufacturer's official videos. The TopoRetarget paper on arXiv transfers human hand motion to the Wuji hand zero-shot and shows cube and pen reorientation on the real hand; the Human2Dex paper uses the Wuji hand as one of its target hands. A group at ETH Zurich tried the hand as a self-propelled mobile manipulator (press report).

Wuji Hand 2 and Wuji Glove: How They Work Together

FeatureWuji Hand 2Wuji Glove
RoleRobot hand: grasps and manipulatesOperator glove: measures hand motion and contact
Key figure20 active joints, 1000 Hz526 tactile points, 5 pose modules
Data rate1000 Hz joint statesTactile 120 FPS, pose 120 Hz, IMU 800 Hz
ConnectionRJ45 Ethernet 100BASE-TXRJ45 100BASE-TX via adapter, USB-C power
WeightAbout 800 g67.5 g (192.6 g with cable)
SoftwareWuji SDK and CLI, ROS 2, URDF/MJCF/USDWuji SDK and CLI, ROS 2, retargeting

Values from the manufacturer's Hand 2.2 (Beta) and Glove 1.0 documentation, 13 November 2026.

Assessment

The Wuji Hand 2 is one of the few hands that combine twenty active joints with full direct drive in a body of about 800 g; with an open SDK, ROS 2 packages and simulation models it gives a strong starting point for research and integration. On the other hand, the shipping build is at the Beta stage, has no tactile sensing, and values such as payload, lifetime and ingress protection are not published. The hand should therefore be assessed as an option for research, data collection and pilot work rather than for production-line tasks that require measured field durability.

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Product of interest: Wuji Hand 2

Hand 2: Frequently Asked Questions

The most common questions about the Wuji Hand 2.

What is the Wuji Hand 2 and who makes it?

The Wuji Hand 2 is a five-finger dexterous robot hand from Shenzhen-based Wuji Technology (Chinese name 舞肌科技). Founded in 2019, the company started with micro motors and focused fully on dexterous hands from the end of 2023. The Hand 2 is a fully direct-drive hand with 20 active joints; it was introduced at ICRA in June 2026.

Does the Wuji Hand 2 have tactile sensing?

Not in the version that currently ships. The manufacturer's documentation describes the current hand as the non-tactile Wuji Hand 2.2 (Beta); the skin layer is passive. External torque estimation from joint current is not validated in 2.2 either. The tactile version shown at launch is not part of this shipment. Projects that need contact force measurement should look at tactile hands or additional sensors.

Can it be mounted on a Unitree G1 or another humanoid?

Mechanically it connects through the wrist flange and an adapter; since the palm-mount STEP file is public, adapters can be designed for other wrists. The manufacturer has no official compatibility list. On a humanoid such as the G1, the wrist interface, cable routing, 12 V supply and the arm's payload limit are assessed together; because wrist load values are not published, fit is verified through engineering within the project and with written confirmation from the manufacturer.

Which robot arms is it used with?

The manufacturer's teleoperation repository uses the Tianji arm, and academic papers use xArm and Franka arms. This is not a certified arm list. An adapter is designed for the arm's flange, and the hand and the arm controller run on the same network over Ethernet.

What do the mounting flange and holes look like?

The box contains a standard wrist flange, an adapter and an adapter flange. Under the palm there is one M3 (at least 5.5 mm deep) and two M4 (at least 4 mm deep) mounting holes. The palm-mount STEP file and A3 technical drawing are published in the wuji-description repository on GitHub. Left and right hands use the same mount interface.

Which SDKs and software are available?

The Wuji SDK runs in Python and C on Windows, Linux (x86_64 and aarch64) and macOS; the Wuji CLI covers device scanning, parameters, calibration, logging and firmware updates. ROS 2 packages publish joint states at 1000 Hz. Simulation runs in MuJoCo and Isaac Sim with URDF, MJCF and USD models, and the wuji-mjlab and wuji-isaaclab repositories are there for training. Most of the software is MIT licensed, the training repositories Apache-2.0.

What is the electrical and communication interface?

The hand communicates over RJ45 Ethernet (100BASE-TX) with a static IP; DHCP is not supported. Supply is 11-13 V DC (12 V nominal) through an XT30 connector, and the box contains a 12 V 20 A adapter of at least 200 W. Hot-plugging and reverse polarity must be avoided. The manufacturer reports that the external interface and the voltage range will change in later 2.2 builds.

How much load can it carry?

The manufacturer's documentation does not publish a payload or static grip value for the Hand 2 and states that motor load values are not a basis for design or procurement. The web table gives a fingertip force of 12 N or more; that value applies to the earlier Beta and may change. Projects with a load requirement request the value from the manufacturer in writing.

How much does the Wuji Hand 2 cost and how is it sourced in Turkey?

Robotlar.org does not publish prices. The price is set in a corporate quotation by hand quantity (a single hand or a left and right pair), build, the spare finger and skin plan, the need for a Wuji Glove and the integration scope. For Wuji products Robotlar.org provides enterprise sourcing, technical specification support and integration engineering; supply into Turkey is planned per project, and the scope of import, delivery and commissioning is itemised in the quotation.

What is the lead time?

Lead time is set per project: it is confirmed with the manufacturer based on quantity, hand side, accessories and import terms, and stated in the quotation. If your purchasing calendar is defined, the quotation is planned around it.

How do warranty and technical support work?

Warranty scope and duration are stated in writing in the quotation according to the sourcing channel. The manufacturer's public after-sales terms apply within Mainland China and state that the warranty starts once acceptance inspection is complete; unauthorised disassembly, modification and non-official power supplies are excluded. The manufacturer states that it gives no durability or lifetime guarantee at the 2.2 stage, so the spare-parts plan is handled separately in the quotation.

How does it differ from the Unitree Dex5 hands?

In the Wuji Hand 2 all 20 joints are active and direct-drive; it weighs about 800 g, runs on 11-13 V and has no tactile sensing in the shipping build. In the Unitree Dex5-1, 16 of the 20 degrees of freedom are active and 4 are passive; it weighs 1,100 g, runs on 24-60 V, and the Dex5-1P version offers 94 tactile points. The Unitree Dex5-S has 22 active degrees of freedom. The full comparison is on the Dexterous Robot Hands category page.

In the press

About the Wuji Hand 2

PricingWuji Hand 2 Price and Sourcing: How to Source the Dexterous Robot Hand

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