TESOLLO fingertip tactile option
Optional tactile configuration; not assumed fitted.
Model-specific configuration to confirm
TESOLLO ↗TESOLLO DG-5F-S · 20 DoF
Keep the 20-DoF and 15-DoF configurations separate, select the matching ROS model, and distinguish optional tactile sensing from fitted hardware.
DROID RESEARCH · SOURCES CHECKED
Can the same DG-5F-S model and launch files be used for both joint configurations?
The product offers a separate 15-DoF option, and the ROS package publishes distinct 20-DoF and 15-DoF launch paths. Match the ordered configuration to its model and controller. This record covers the 20-DoF product specification.
TESOLLO ↗ TESOLLO ↗Hardware and interface evidence
Original units and conditions are retained. A published interface does not establish a completed or independently tested integration.
| Field | Reported value | Conditions and source |
|---|---|---|
| Actuation | 20 independently actuated joints | Four per finger. The optional 15-DoF configuration is a separate variant. TESOLLO ↗ |
| Input supply | 24 V | Nominal specification; verify supply tolerance and connection requirements. TESOLLO ↗ |
| Maximum current consumption | 10 A | Maximum specification, not average consumption. TESOLLO ↗ |
| Reported mass | 880 g | The product's 20-DoF specification table; do not assign it to the optional 15-DoF configuration. TESOLLO ↗ |
| Communication | Ethernet TCP/IP and Modbus TCP | The direct ROS driver requires the custom Developer Mode protocol. TESOLLO ↗ |
| Reported control frequency | 500 Hz | Product control-frequency claim; not a measured application-loop or end-to-end rate. TESOLLO ↗ |
| Fingertip option | Optional tactile sensors | Confirm the installed sensor version, calibration and data interface. TESOLLO ↗ |
| ROS 2 model selection | Separate 20-DoF and 15-DoF launch paths | Model-specific package shares delto_hardware and delto_tcp_comm dependencies. TESOLLO ↗ |
What this means for the control loop
Droid’s analysis of the cited documentation:
- Joint count affects the command vector, robot description and retargeting map. A physically similar hand with a different configuration is not a drop-in software substitute.
- The S model uses a different mode-selection panel from the M model. Follow its DIP-switch instructions; a successful mock-hardware launch does not verify the physical device mode.
- The lighter published mass and higher stated control frequency do not establish better task performance. Compare the complete fitted tool and the same payload, object friction, controller and sensing setup.
Documented components and software paths
Included sensing, optional hardware and software dependencies are different relationship types. These records do not infer undisclosed suppliers or part numbers.
TESOLLO SDK-to-ROS bridge
Optional SDK bridge uses an x86-64 library. The direct ROS hardware path is distinct.
Workspace 1307f7d; x86-64 precompiled library
TESOLLO ↗Still to establish
- Sensor-equipped mass and exact tactile option
- Delivered firmware and validated host architecture
- Mechanical mounting and complete arm/tool load envelope
- Independent task success, latency and delivered quote
Before enabling the full workflow
- Record 20-DoF versus 15-DoF explicitly in the order and configuration.
- Use the S-specific mode-selection instructions.
- Verify actual sensors rather than enabling a software flag alone.
- Replay known joint poses and test loss-of-command behavior.
Source record
- DG-5F-S product specification ↗TESOLLO · 20-DoF specification; 15-DoF configuration separately offered · Checked 2026-11-10
- DG-5F-S model packages and variants ↗TESOLLO · Submodule commit 284501f; separate 20-DoF and 15-DoF launch paths · Checked 2026-11-10
- DG-5F-M product specification ↗TESOLLO · DG-5F-M; Short Wrist is a separate option · Checked 2026-11-10
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