A hand is only part
of the control loop.
Compare PSYONIC Ability Hand and TESOLLO DG-5F-M / DG-5F-S interfaces. Check ROS branches, ARM64 SDK limits, feedback modes and optional sensors with sourced evidence.
DROID RESEARCH · SOURCES CHECKED
Start with the actual software path.
These records connect hardware to its documented host, protocol and sensing requirements. They distinguish a supported software branch from a tested task, an optional sensor from a fitted component, and a product family from the configuration being ordered.
Complete the missing configuration evidence.
This screens software architecture, device mode and selected sensing requirements. Mounting, power, firmware, control behavior and task performance need separate validation.
- ROS distribution · Documented requirement
Jazzy on Ubuntu 24.04 is listed by TESOLLO. Pin the model and shared-package revisions; manufacturer support is not a Droid hardware test.
ROS 2 installation and distribution status ↗TESOLLO ROS 2 workspace and architecture limits ↗ - Processor / driver · Needs confirmation
The direct driver uses delto_hardware and delto_tcp_comm rather than the SDK bridge. Excluding the bridge avoids that binary dependency, but this review does not establish a validated build on your selected processor.
TESOLLO ROS 2 workspace and architecture limits ↗ - Device protocol · Needs confirmation
Confirm Developer Mode and Ethernet on the physical hand. The S model uses different switch instructions from the M model.
ROS 2 connection and device-mode prerequisites ↗ - Contact sensing · Needs confirmation
Fingertip sensing is optional in the reviewed product specifications. Confirm what is actually included and which API exposes its data.
DG-5F-S product specification ↗
Includes selections, reasons and source versions. Values stay in this browser; an existing-site analytics event may record a download without its contents.
Compare the documented boundaries.
Three configurations, with original definitions and conditions. This is an early research cohort, not a complete hand directory. Values below are manufacturer statements, not independent measurements.
| Decision | PSYONIC Ability Hand ↗Robotics configuration; exact hardware revision to confirm | TESOLLO DG-5F-M ↗20-DoF model; distinguish standard and Short Wrist | TESOLLO DG-5F-S · 20 DoF ↗20-DoF configuration; separate from optional 15-DoF |
|---|---|---|---|
| Actuation | 6 brushless DC motors Motor count; do not equate this with every anatomical joint moving independently. PSYONIC ↗ | 20 independently actuated joints Four per finger, with one integrated actuator per joint. TESOLLO ↗ | 20 independently actuated joints Four per finger. The optional 15-DoF configuration is a separate variant. TESOLLO ↗ |
| Power specification | 8–12 V in API quickstart This is the documented power-switch setup, not an all-revision electrical rating. Confirm current demand and wiring against the delivered hardware. PSYONIC ↗ | 24 V Nominal specification; confirm allowable tolerance, wiring and transients in the delivered manual. TESOLLO ↗ | 24 V Nominal specification; verify supply tolerance and connection requirements. TESOLLO ↗ |
| Reported mass | Not established in reviewed sources No comparable robotics-kit mass established by the reviewed primary records. | 1,763 g Product-page figure; selected wrist and sensor options must be confirmed. TESOLLO ↗ | 880 g The product's 20-DoF specification table; do not assign it to the optional 15-DoF configuration. TESOLLO ↗ |
| Communication | BLE, I2C, UART and RS-485 listed The reviewed Python wrapper uses serial; protocol choice and firmware configuration still matter. PSYONIC ↗ | Modbus RTU/TCP; Ethernet TCP/IP The ROS hardware driver requires Developer Mode and its custom Ethernet protocol, not the Operator Mode Modbus path. TESOLLO ↗ | Ethernet TCP/IP and Modbus TCP The direct ROS driver requires the custom Developer Mode protocol. TESOLLO ↗ |
| Contact sensing | 30 touch-sensor values Six encoder values are also advertised. Touch channels are not a calibrated multi-axis force/torque measurement. PSYONIC ↗ | 6-axis F/T, 3-axis force or tactile Optional configurations; do not assume these sensors are included in the quoted base hand. TESOLLO ↗ | Optional tactile sensors Confirm the installed sensor version, calibration and data interface. TESOLLO ↗ |
| ROS 2 path | Humble main; separate Jazzy branch Pin the branch and wrapper together; do not assume identical topic names across branches. PSYONIC ↗ | Humble and Jazzy listed; Lyrical experimental The repository says Lyrical is not validated on hardware. Pin model and common-package submodules. TESOLLO ↗ | Separate 20-DoF and 15-DoF launch paths Model-specific package shares delto_hardware and delto_tcp_comm dependencies. TESOLLO ↗ |
Follow the decision, not just the specification.
PSYONIC Ability Hand
Does a ROS 2 label mean every DG-5F-M software path runs on a Jetson? ↗TESOLLO DG-5F-M
Can the same DG-5F-S model and launch files be used for both joint configurations? ↗TESOLLO DG-5F-S · 20 DoF
How does a MANUS stream become a DG5F command? ↗Inspect the manufacturer’s retargeting example, calibration assumptions and unresolved glove version.
What the table cannot rank
A sensor count is not force accuracy.
PSYONIC lists touch channels, while TESOLLO lists optional tactile and force/torque configurations. Channel count does not establish calibration, force axes, range, repeatability or useful contact information for your task.
PSYONIC ↗ TESOLLO ↗Grasp conditions matter.
TESOLLO separates pinching from enveloping payload and rated from maximum values, with object friction affecting performance. A robot hand’s mass also belongs in the arm’s complete tool-load calculation. Neither a maximum grasp figure nor a software update rate supplies a task-success ranking.
TESOLLO ↗ TESOLLO ↗Bring us the task.
Let’s find the fit.
Share your environment, the job to be done, and the outcome you need to measure.