Data-ranked list
Humanoid robot hands compared
232 robots publish a hand-DoF value, an end-effector description, or an explicit tactile or touch sensor record.
Last updated Oct 10, 2026
Method
Criteria
Include a robot only when hand DoF, hand type, or an explicitly named tactile/touch sensor is sourced. Sort known hand DoF descending and keep counting caveats visible.
Read the full methodology →Hand DoF, type and tactile sensing
DoF conventions vary: a published count may include or exclude wrist, palm, coupled, or passive motion. Use each record note and source before comparing totals.
| Robot | Hand DoF | Hand / end effector | Tactile sensing | Source |
|---|---|---|---|---|
| Matrix Robotics MATRIX-3 | 27Cable-driven hand, per the official site | 27-DoF cable-driven dexterous hand with fingertip tactile sensing | Fingertip tactile array (pressure sensitivity down to 0.1 N), Distributed full-body tactile sensing | Source ↗ |
| 1X NEO | 22The order page assigns 22 DoF to each hand; 1X's later engineering post describes 25 DoF per hand assembly when three wrist DoF are included | 22 finger-and-palm DoF plus 3 wrist DoF; tendon-driven and IP68 | Not explicitly published | Source ↗ |
| Matrix Robotics MATRIX-1 | 22Third-generation five-fingered dexterous hand | Five-fingered dexterous hand with tactile sensors; 22 DoF | Not explicitly published | Source ↗ |
| Sharpa North | 22Wave hand, 22 active DoF per the company | Wave dexterous hands: 22 active DoF, human scale, tactile sensing | Tactile arrays in the hands | Source ↗ |
| Agile Robots Agile ONE | 21Official manufacturer post explicitly states 21 DoF in each hand | Modular fingered hands with 21 joints and integrated force and tactile sensors | Force and tactile sensors in the hands | Source ↗ |
| XPeng IRON | 21Per hand; November 2025 press cited 22 | Anthropomorphic hand with 21 DoF per hand and tactile sensing | Full-body tactile sensor array, Hand tactile sensors | Source ↗ |
| BOSHIAC DexBot | 20High-performance hand; the lightweight option has 11 DoF. Secondary coverage reports 15 and 7 active DoF, respectively | Two dexterous-hand options: 20-DoF high-performance and 11-DoF lightweight | Not explicitly published | Source ↗ |
| Holiday Robotics FRIDAY | 20Per hand | Dexterous hands with tactile sensing | Tactile sensors | Source ↗ |
| X Square Robot QUANTA X2 | 20Dexterous hand; the page also lists a 2-DoF gripper | 20-DoF dexterous hand; 2-DoF gripper option | Not explicitly published | Source ↗ |
| AgiBot A2 | 19Current upgraded A2 hand: 19 total DoF, including 12 active DoF; launch hardware used an earlier hand | Upgraded 19-DoF dexterous hand with 12 active DoF | Not explicitly published | Source ↗ |
| PAL Robotics REEM-C | 19Underactuated hand with 3 actuators | Two underactuated human-like hands, 19 DoF and 3 actuators each | Not explicitly published | Source ↗ |
| Figure 02 | 16Hand degrees of freedom as stated by Figure | Four fingers and a thumb, 16 DoF | Not explicitly published | Source ↗ |
| Idol AIdol | 14Per hand | Silicone-covered dexterous hands with 14 DoF each | Not explicitly published | Source ↗ |
| KIT ARMAR-6 | 14Fourteen mechanical finger joints per underactuated hand | Two underactuated five-finger hands | Not explicitly published | Source ↗ |
| Waseda WABOT-2 | 14Robots Guide joint breakdown; the paper confirms five fingers on each hand but not this per-hand count | Five-fingered hands | Not explicitly published | Source ↗ |
| Honda ASIMO | 13 | Multi-fingered hands, 13 DoF each | Not explicitly published | Source ↗ |
| Waseda Hadaly-2 | 13 | Four-fingered anthropomorphic hands | Not explicitly published | Source ↗ |
| Waseda Twendy-One | 13 | Four-fingered anthropomorphic hands with adjustable grip pressure | Not explicitly published | Source ↗ |
| AgiBot RAISE A1 | 1212 active plus 5 passive DoF per SkillHand | SkillHand: 12 active and 5 passive DoF per hand, vision-based fingertip sensing | Vision-based fingertip tactile sensors | Source ↗ |
| DLR Rollin' Justin | 12Four-finger hands | Four-finger hands, 12 DoF each | Not explicitly published | Source ↗ |
| Humanoid HMND 01 | 12Optional 12-DoF five-finger hand; alternative is a 1-DoF parallel gripper | Modular: 12-DoF five-finger hand or 1-DoF parallel gripper | Not explicitly published | Source ↗ |
| Kanop RHM-T1W | 1212-DoF dexterous hand per press; its counting basis is not reconciled with the official 33 driven-joint total | 12-DoF dexterous hand with humanlike cross-axis wrist | Tactile feedback | Source ↗ |
| Kepler Forerunner K1 | 12Intelligent hand | 12-DoF intelligent hand | Not explicitly published | Source ↗ |
| NASA Robonaut 2 | 12Per hand; NASA gives four DoF in the thumb, three each in the index and middle fingers, and one each in the ring and pinky fingers | Dexterous hands with force/torque and tactile sensing in fingers and palms | Force/torque and tactile hand sensors | Source ↗ |
| NEURA 4NE1 Mini | 12Pro variant. The datasheet says hands or end effectors may each have up to 12 DoF. Standard has no manipulation hands | 12-DoF dexterous hands on Pro; no manipulation hands on Standard | Not explicitly published | Source ↗ |
| RobotEra L7 | 1212 independently actuated DoF in the hand | Five-fingered, fully direct-drive dexterous hand | Not explicitly published | Source ↗ |
| RobotEra STAR1 | 12XHAND1 hand | XHAND1 five-fingered dexterous hand, 12 active DoF per hand | Fingertip tactile sensors | Source ↗ |
| RobotEra XBot-L | 12XHand active DoF per RobotEra's claim; hand count on XBot-L not stated | RobotEra XHand dexterous hand (12 active DoF per company claim) | Not explicitly published | Source ↗ |
| Shanghai Electric SUYUAN 2.0 | 12Per Jiefang Daily; first generation had 6 per hand | Not published | Not explicitly published | Source ↗ |
| AiMOGA (Chery) Mornine M1 | 11Per Chinese coverage of the retail specification | Visuohaptic dexterous hands with 11 DoF per hand | Not explicitly published | Source ↗ |
| CASBOT 02 | 11Per the product page; the page also says 6 are supported, and the wording is ambiguous | Dexterous hands, 11 DoF each | Not explicitly published | Source ↗ |
| Kepler K2 | 11Per dexterous hand | 11-DoF dexterous hand with 25 force-sensing contact points per hand and a six-axis wrist force sensor | Not explicitly published | Source ↗ |
| MagicLab MagicBot Gen1 | 1111 per hand: 6 active, 5 passive | Dexterous hand with 11 DoF per hand (6 active) | Not explicitly published | Source ↗ |
| Pudu D9 | 11PUDU DH11 hand; the page lists 6 active and 5 passive joints | PUDU DH11 dexterous hand: 11 DoF with tactile sensing | Tactile sensors | Source ↗ |
| RobotEra Q5 | 11The official brochure identifies the 11-DoF XHAND Lite; launch coverage uses the name XHAND1 Lite | XHAND1 Lite dexterous hands | Not explicitly published | Source ↗ |
| Tesla Optimus Gen 1 | 11Six actuators and 11 degrees of freedom per hand | Five-finger hand with opposable thumb, six actuators and 11 DoF | Not explicitly published | Source ↗ |
| Tesla Optimus Gen 2 | 11Tesla's Gen 2 demonstration labels the new hands as 11 DoF | 11-DoF hands with tactile sensing | Tactile sensing in the hands | Source ↗ |
| UBTech Cruzr S2 | 11Eleven axes per dexterous hand | Gen-4 industrial dexterous hands | Six tactile sensors per hand | Source ↗ |
| UBTech Walker S2 | 11Fourth-generation dexterous hand | Fourth-generation 11-DoF dexterous hands with tactile sensor arrays | Not explicitly published | Source ↗ |
| XPeng PX5 | 11Per hand | 11-DoF dexterous hand with hybrid rigid-flexible actuation and tactile sensing | Not explicitly published | Source ↗ |
| Zeroth Jupiter | 10IFA listing states 10 active degrees of freedom per hand but also says 22 articulation points in total | Dexterous hands with 22 articulation points in total | Not explicitly published | Source ↗ |
| IIT iCub | 9Full robot per IIT catalogue | Five-finger tendon-driven hands with 9 degrees of freedom each | Capacitive tactile skin | Source ↗ |
| KIT ARMAR-III | 8Per five-fingered hand in KIT's 2006 system paper | Five-fingered anthropomorphic hands with 8 DoF each | Tactile sensors | Source ↗ |
| Saika | 8Optional three-fingered hand developed for Saika | Optional 8-DoF three-fingered hand with 87 touch sensors | 87 touch sensors on the optional hand | Source ↗ |
| BYD Xiao Di | 7Reported for each dexterous hand | Seven-degree-of-freedom dexterous hands | Not explicitly published | Source ↗ |
| EngineAI T800 | 7Pro and Max editions only; Basic and Open Source have no dexterous hands | 7-DoF multi-modal dexterous hand with tactile sensing (Pro and Max); none on Basic | Optional hand tactile sensors on hand-equipped variants | Source ↗ |
| AeiROBOT Alice 4 | 6 | 6-DoF hands (12 DoF in total) | Not explicitly published | Source ↗ |
| AeiROBOT Alice M1 | 6 | Two 6-DoF hands | Not explicitly published | Source ↗ |
| AgiBot Genie G1 | 66-DoF end-effector; can be replaced with a two-finger gripper | 6-DoF end-effector with six-axis force sensing; two-finger gripper option | Not explicitly published | Source ↗ |
| AIST HRP-3 | 6Per Kawasaki: each arm assembly has 13 DOF, 7 for the arm and 6 for the hand | 6-DoF hands designed to grasp a powered driver | Not explicitly published | Source ↗ |
| DexForce W1 Pro | 6Active DoF per dexterous hand | Dexterous hand with 6 active DoF per hand | Not explicitly published | Source ↗ |
| Dexmate Vega | 6Optional Dexmate 6-DoF hand; grippers are also offered | Optional DexGripper S or D (60 N grasp force, 55° max opening) or 6-DoF dexterous hand; sold separately | Not explicitly published | Source ↗ |
| DLR TORO | 6Per DLR's breakdown (6 DoF per hand) | Hands with 6 DoF each (per DLR breakdown) | Not explicitly published | Source ↗ |
| EngineAI SE01 | 6Six-degree-of-freedom dexterous hand (official product page) | Bionic five-finger dexterous hand, 6 DoF (per product page) | Not explicitly published | Source ↗ |
| Fourier GR-1 | 6 | Bionic dexterous hand, 6 DoF each | Not explicitly published | Source ↗ |
| Fourier GR-2 | 6Standard hand; 12-DoF hand optional | Self-developed 6-DoF dexterous hand; optional 12-DoF dexterous hand | Not explicitly published | Source ↗ |
| Fourier GR-3 | 6Standard hand; 12-DoF hand optional | 6-DoF dexterous hand (standard); optional 12-DoF dexterous hand | Touch sensing | Source ↗ |
| Keenon XMAN-R1 | 6 | Two 6-DoF dexterous hands | Not explicitly published | Source ↗ |
| Leju KUAVO 4 Pro | 6MaxB tactile dexterous-hand configuration; Standard end effectors are configurable | Configurable; MaxB uses six-DoF tactile dexterous hands | Not explicitly published | Source ↗ |
| Leju KUAVO 5 | 6Showroom Compute configuration; Advanced version has one-DoF grippers | Optional six-DoF dexterous hands; standard Advanced edition uses one-DoF two-finger grippers | Not explicitly published | Source ↗ |
| LimX Luna | 6Optional 5-finger dexterous hand; palm and fist hand models list no finger DoF | Palm-shaped and fist-shaped hand models; optional 5-finger dexterous hand (6 DoF) | Not explicitly published | Source ↗ |
| NASA Valkyrie (R5) | 6Per hand; the University of Edinburgh operator page lists 12 DoF across both hands | Three fingers and a thumb per hand, with quick disconnects | Not explicitly published | Source ↗ |
| Noetix W1 | 6Six active plus five passive degrees of freedom in each hand | Dexterous six-DoF hands | Not explicitly published | Source ↗ |
| OpenLoong Qinglong V3.0 | 6Derived from the reported 12 hand DoF across two hands; no source separately states six per hand | Optional multi-fingered dexterous hands or electric grippers | Not explicitly published | Source ↗ |
| PNDbotics Adam SP | 6Six dexterous-finger DoF per hand, within 13 per arm | Self-developed dexterous hand, six finger DoF per hand | Not explicitly published | Source ↗ |
| ROBROS IGRIS-C | 6H5_C hand, per official page | Tendon-driven 5-finger H5_C hand, 6 DoF per hand; electromagnetic and 1-DoF grippers offered | Not explicitly published | Source ↗ |
| Skybot F-850 (FEDOR) | 6Six DoF per gripper in the ISS configuration | Articulated six-DoF grippers | Not explicitly published | Source ↗ |
| Stanford HumanPlus | 6Per Inspire Robots RH56DFX hand on the customized HumanPlus platform | Two Inspire Robots RH56DFX six-DoF dexterous hands on customized wrists | Not explicitly published | Source ↗ |
| Surena IV | 6Six independently actuated DoF in each hand | Five-finger anthropomorphic hand with six independent DoF and motor-current force feedback | Not explicitly published | Source ↗ |
| Ti5 T170A | 6Active degrees of freedom per smart hand | 6-DoF smart hands; TH-RH-1-L/R on Standard, high-precision dexterous hands on Flagship | Not explicitly published | Source ↗ |
| UBTech Walker X | 6Hands listed as 6x2 | 6-DoF hands (6 per hand) | Multi-channel perception: vision, hearing, touch, environment | Source ↗ |
| X-Humanoid Tianyi 2.0 | 6Each dexterous hand | Two 6-DoF dexterous hands | Not explicitly published | Source ↗ |
| Zhejiang Humanoid NAVIAI-I3 | 6The March 2026 product-system release says F5D6-series six-DoF hands are integrated in I3; the exact F5D6 subvariant is not named | F5D6-series five-finger dexterous hands | Not explicitly published | Source ↗ |
| Zhejiang Humanoid Navigator 2 | 6SUPCON's launch post states 15 finger joints and 6 active DoF per dexterous hand | Dexterous hands with 15 finger joints and 6 active DoF each | Tactile sensors | Source ↗ |
| KAIST HUBO (KHR-3) | 5Five independently actuated fingers per hand; wrist axes are separate | Five-finger hands with individually actuated fingers | Not explicitly published | Source ↗ |
| KAIST HUBO2 | 5Five motors in each hand | Five-motor articulated hands | Not explicitly published | Source ↗ |
| LG CLOiD | 5Five individually actuated fingers per hand; LG has not published a whole-robot DoF total | Five-fingered hands; five individually actuated fingers per hand | Not explicitly published | Source ↗ |
| Ligong F1 | 5 | 5-DoF dexterous hands with multidimensional tactile sensors | Multidimensional tactile sensors | Source ↗ |
| Sony QRIO | 5Five independently driven fingers per hand | Five independently driven articulated fingers per hand | Not explicitly published | Source ↗ |
| TOSY TOPIO 3.0 | 5Wikipedia's TOPIO 3.0 joint breakdown lists five degrees of freedom for each hand | Not published | Not explicitly published | Source ↗ |
| Engineered Arts Ameca | 4Official specification lists 8 hand DoF total, 4 in each hand | Articulated hands with 4 DoF each | Not explicitly published | Source ↗ |
| KIST MAHRU | 4Calculated from KIST's 8 hand DoF across the two hands | Two articulated hands with 8 DoF combined; MAHRU-Z has six fingers | Not explicitly published | Source ↗ |
| KIT ARMAR-7 | 4Four motors actuate eleven mechanical DoF in each underactuated hand | Underactuated five-finger hands with 11 mechanical DoF driven by four motors each | Not explicitly published | Source ↗ |
| Mex-One | 4Four motors/degrees of freedom in each hand in the final joint breakdown | Three-finger hands with four actuators per hand | Not explicitly published | Source ↗ |
| Waseda KOBIAN | 4The paper assigns eight DoF to both hands combined | Not published | Not explicitly published | Source ↗ |
| AIST HRP-4 | 2Two DOF in each hand | Five-finger, 2-DoF hands | Not explicitly published | Source ↗ |
| AIST HRP-4C | 2 | Five-finger, 2-DoF hands with four linked fingers and an independent thumb | Not explicitly published | Source ↗ |
| AIST HRP-5P | 2 | 2-DoF hands | Not explicitly published | Source ↗ |
| CASBOT W1 | 22-DoF gripper; a dexterous hand can replace it | 2-DoF gripper per arm; dexterous hand option | Not explicitly published | Source ↗ |
| Honda P4 | 2Contemporary display report gives two hand axes per hand | Not published | Not explicitly published | Source ↗ |
| MIT Cog | 2Later series-elastic research hand; its two axes are not included in the 22-DoF body total | Three-member, 2-DoF series-elastic hand with mechanically coupled links | Not explicitly published | Source ↗ |
| MIT Nexi MDS | 2Per hand in an MIT-authored HRI paper | Three-finger hands with an opposable thumb | Not explicitly published | Source ↗ |
| UBTech Alpha Mini | 2Per UBTech's DoF breakdown | Two-DoF hands (2 per hand) | Touch sensors | Source ↗ |
| 1X EVE | 1Per Robots Guide | 1-DoF hands | Not explicitly published | Source ↗ |
| AIST HRP-1 | 1 | 1-DoF hands | Not explicitly published | Source ↗ |
| AIST HRP-2 | 1 | 1-DoF gripper hands | Not explicitly published | Source ↗ |
| Aldebaran NAO 6 | 1One coupled actuator per three-fingered hand | Three-fingered hand with one coupled degree of freedom | Tactile sensors | Source ↗ |
| Aldebaran Romeo | 1One coupled grasping degree of freedom per four-finger hand | Four-finger hand with one coupled grasping degree of freedom | Not explicitly published | Source ↗ |
| Galaxea R1 | 1One degree of freedom per standard G1 parallel gripper | Force-controlled parallel gripper, 1 DoF (150 N rated, 350 N peak) | Not explicitly published | Source ↗ |
| Hitachi EMIEW3 | 1Per robotsguide: 1 DoF per hand | One-DoF hands | Not explicitly published | Source ↗ |
Quick answers
Frequently asked questions
Are hand DoF counts directly comparable?
Not always. Makers may include or exclude the wrist, palm, coupled joints, or passive motion, so each source note should be checked.
How is tactile sensing identified?
Only sensor records that explicitly name tactile, touch, force, or pressure sensing are labeled; no capability is inferred from a hand name.
Fresh records
Recently verified
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