Orca‑Hand V2 Full Analysis｜Feetech Servos, Heart of Bionic Hand
Full‑Dimensional Disassembly of the
Orca‑Hand V2 Dexterous Hand
01
Why Does the Orca‑Hand V2 Fully Adopt Feetech Bus Servos as Standard Equipment?
The human hand possesses over 20 degrees‑of‑freedom. Muscles drive the bones to complete flexion, extension, pinching and rotation. For a robotic dexterous hand, every finger and knuckle requires an independent drive unit to carry out bionic motions, and servos function as the miniature muscles and precision joints of robotic fingers. Overall performance hinges largely on servo capability. Feetech servos have been selected as the official hardware of choice, with the key advantages listed below:
1. Ultra‑simplified Bus Wiring for Seamless Motion Coordination
Feetech bus servos support daisy‑chain connection via a single bus. The 17 joints are chained by one cable, perfectly fitting the compact inner space of the dexterous hand. Benefiting from high‑speed bus communication, multiple joints respond synchronously with low latency, enabling smooth and jitter‑free linkage of five fingers.
2. High‑precision Closed‑loop Control for AI‑oriented Research and Development
Equipped with 12‑bit high‑precision magnetic encoders, the servos feed back full‑dimensional operating data in real‑time and support position‑force dual‑closed‑loop control. Soft gentle grasping and accurate steady clamping can be realized. Well‑suited for cutting‑edge research scenarios including AI imitation learning, teleoperation and data acquisition, they outperform ordinary serial‑bus servos limited to angle‑only control.
3. High Durability and Stability for High‑frequency Experiments
The built‑in intelligent soft‑start‑stop algorithm buffers mechanical impact and protects tendons and gear assemblies. Multiple protection mechanisms against stall, over‑current and over‑heating together with wear‑resistant metal gears enable tens‑of‑thousands‑times cyclic grasping tests. The servos maintain stable long‑time continuous operation without step‑loss.
02
Three sets of hardware configurations are equipped with Feetech bus servos.
✅ Version 1: 16 HL‑3915‑C001 finger‑drive servos + 1 HL‑3930‑C001 wrist servo + FE‑URT‑2 debugging board
✅ Version 2: 16 HL‑2915‑C001 servos for driving the five‑finger joints, one HL‑3930‑C001 for wrist rotation and an FE‑URT‑2 upper‑computer debugging board
✅ Version 3: 16 ST‑3215‑C001 high‑precision finger servos, one HL‑3930‑C001 wrist servo and the dedicated FE‑URT‑2 debugging board
03
Feetech Servos Empower Orca‑Hand V2
