orcahand
Model: orcahand v2.1 base
ORCA Dexterity's current platform comprises the shipping orcahand v2.1 base and tactile orcahand v2.0 touch, plus the legacy/community orcahand lite self-build. The 17-DoF base costs US$3,500 with Feetech actuators or US$4,500 with Dynamixel. The 17-DoF touch costs US$6,100 / US$7,100 and adds 351 Hall-effect taxels that each output six-axis force/torque data; its tactile module is proprietary although the common mechanical platform remains open-source. Lite couples tendons into 9 DoF and has a self-sourced BOM below US$900 rather than an assembled-product price. Current v2 base/touch hands use the same ISO 9409-1 mount, USB/Python orca_core control and two-fan cooling.
Config comparison
| Spec | orcahand v2.1 base | orcahand v2.0 touch | orcahand lite |
|---|---|---|---|
| Price | Feetech US$3,500；Dynamixel US$4,500（装配成品） | Feetech US$6,100；Dynamixel US$7,100（装配成品） | 自制 BOM 低于 US$900（非装配成品售价） |
| communication | USB-C to PC; open-source orca_core Python control | USB-C to PC; open-source orca_core Python control | USB to PC; open-source orca_core Python control |
| Delivery Stage | shipping | shipping | discontinued |
| expansion-backplane | ISO 9409-1-50-4-M6 mounting interface; USB data connection | ISO 9409-1-50-4-M6 mounting interface; USB data connection | ISO 9409-1 mechanical mounting interface; USB data connection |
| joint-type | Tendon-driven; 16 finger joints plus one wrist independently actuated | Tendon-driven; 16 finger joints plus one wrist independently actuated | Coupled tendon drive; MCP/PIP flexion coupled per finger and shared abduction actuation |
| material | 3D-printed components with silicone skin and metal/PTFE tendon routing | 3D-printed components with silicone skin and metal/PTFE tendon routing | 3D-printed components with silicone skin |
| open-source | true | false | true |
| positioning | Open-source dexterous-manipulation and robot-learning platform | Contact-rich manipulation and advanced tactile robot-learning research | Legacy/community self-build for grasping, demonstrations and low-cost experiments |
| sdk | Open-source orca_core Python control library; URDF, MuJoCo and simulation resources | Open-source orca_core Python control; proprietary tactile sensing module | Open-source orca_core Python control library |
| sensors | No tactile sensing in base configuration; joint-position sensing is an optional upgrade | 351 Hall-effect taxels across five digits; each taxel outputs 6D force/torque; 51–83 taxels per finger | No tactile sensing in standard configuration |
| Total DOF | 17 DOF | 17 DOF | 9 DOF |
| Weight | — | 1.25 kg | — |
Key specs
Total DOF
17 DOF
Price
Feetech US$3,500；Dynamixel US$4,500（装配成品）
Delivery Stage
Shipping
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