25 Joints, Tactile Skin, and Surprising Strength: This Hand for Humanoid Robots is Amazing
The Norwegian company 1X Technologies has announced a new generation of robotic hands developed for its humanoid robot NEO, aiming to achieve dexterity levels close to those of humans. The new system introduces 25 degrees of freedom, complete force control, and tactile capabilities designed to improve object manipulation in real-world environments.
According to 1X, the main limitation of humanoid robots is no longer represented exclusively by artificial intelligence or software models, but by the physical ability to interact with the world. A traditional robotic hand, often based on rigid grippers or systems with few axes of movement, indeed offers a limited number of possible actions and has reduced information on contact with objects.
The new hand of NEO has been designed as a true perception system and not just a simple actuator. The configuration includes 22 fully actuated degrees of freedom distributed among fingers and palm, with an additional three degrees of freedom at the wrist. All movements are managed through the proprietary 1X Tendon Drive system, based on transmissions with relatively low ratios, ranging from about 5:1 to 15:1.
This choice allows the hand to be fully "backdrivable," meaning it can receive forces from the environment through the same mechanical path used to generate movement. The company defines this feature as "force transparency": when an object exerts pressure on the fingers, the force is directly detected by the motors and the control system, without being completely filtered by the mechanical transmission.
Many traditional robotic systems use gears with very high ratios, often in the range of 100:1 or 200:1, which increase the available force but make it difficult to perceive contact through the joints. To compensate for this limitation, external sensors or vision systems are often added. Instead, 1X's solution aims to integrate movement and perception into the very structure of the hand.
In addition to force control, each joint has a continuous proprioception system, allowing the robot to know the position of its fingers and wrist without having to rely exclusively on cameras. This is complemented by a high-resolution tactile surface distributed across the fingers and contact areas, capable of detecting pressure, contact position, and shear forces.
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This data allows NEO to identify phenomena like an object's slipping and quickly correct the grip. The combination of force control, tactile sensitivity, and fine motor capabilities enables the robot to carry out tasks requiring precision, such as manipulating small components or delicate objects.
1X has showcased various applications of the new robotic hand, including LEGO construction assembly, picking up screws and coins, installing light bulbs, using a screwdriver, rotating objects within the hand, closing zippers, selecting fruits, pouring beverages, connecting USB-C cables, and interacting through sign language.
From a mechanical performance perspective, the hand achieves a maximum torque of 3.5 Nm at the thumb joint, while the main finger joints reach up to 2.6 Nm. The bending force at the tip of the fingers can reach 45 N, while the wrist develops a torque of 17.75 Nm. The stated positioning accuracy is ±0.2 mm, a value designed for tasks requiring manipulation of small objects.
The design also considers use in both domestic and industrial environments. The hands are IP68 certified against water and dust, use food contact-compatible materials, and can be washed under running water. The tendon-based structure and low-inertia components also allow the fingers to yield in case of impacts or unexpected pressure, improving safety in interaction with people and objects.
On the reliability front, 1X claims to have subjected components, finger assemblies, and drive systems to millions of test cycles. The wrist joints have reportedly been validated for over two million cycles even under high load conditions. 1X declares a production capacity of hands up to 10,000 units over the year through a dedicated production line.