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RoboRay hand - Published in ICRA 2014
A humanoid robot project of the Samsung Electronics Co.
"RoboRay hand: A highly backdrivable robotic hand with sensorless contact force measurements"
5-Fingered Robotic Hand
Degrees of freedom : 14 (including 2DOF wrist)
Weight : 1.59 kg
Peak fingertip force : 15N
Contact force detection : 0.196N
(with current sensing and friction modeling)