{"wikiid":643315,"langid":"en","namespace":"CATEGORY","title":"ORCA v1","revisionid":1449367,"contents_raw":"== Background Information ==\n\nThe ORCA v1 Hand is a low-cost, open-source anthropomorphic robotic hand designed for research and experimentation in dexterous manipulation. It features a lightweight, 3D-printable structure with underactuated fingers that balance simplicity, affordability, and functionality.\n\nThe hand is driven by tendons and compact servos, allowing for adaptive grasping of objects with varied shapes and sizes. ORCA v1 emphasizes ease of assembly and modularity, making it accessible for both academic and hobbyist applications. Its design prioritizes reproducibility and flexibility, encouraging collaboration and iterative improvements within the robotics community.\n\n== Technical Specifications ==\n\n=== Hardware ===\n\n* ***Cooling:*** 2 x 12V 50x50x10\n* ***Power Supply:*** 12V 5A PS-10\n\n=== Materials ===\n\n* ***PLA Filament:*** eSUN PLA (440.86 g)\n* ***Silicone:*** Dragon Skin 10NV Silicone\n\n=== Degrees of Freedom ===\n\n* ***Active DoF:*** 17\n** ***Fingers Actuators:*** 16\n** ***Wrist Actuator:*** 1\n\n=== Physical Dimensions ===\n\n* ***Weight:*** 2.87 lb (1.3 kg)\n\n=== Electronics ===\n\n* ***Servo Motors:***\n** ***Fingers:*** 16 x DYNAMIXEL XC330-T288-T\n** ***Wrist:*** 1 x DYNAMIXEL XC430-T240BB-T\n* ***USB Communication Converter:*** U2D2 Controller\n\n=== Power ===\n\n* ***Input Voltage:*** 12V\n* ***Power Supply:*** SMPS 12V 5A PS-10\n\n== Additional Information ==\n\n* [link|https:\/\/github.com\/orcahand|Official ORCA Hand GitHub]\n* [link|https:\/\/www.orcahand.com\/legacy\/files|Official ORCA V1 CAD\/STL Files, Assembly Guide, and Bill of Materials]\n* [link|https:\/\/www.orcahand.com\/paper|ORCA V1 Research Paper]","contents_json":{"type":"doc","content":[{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"paragraph","content":[]},{"type":"heading","attrs":{"level":2},"content":[{"type":"text","text":"Background Information"}]},{"type":"paragraph","content":[{"type":"text","text":"The ORCA v1 Hand is a low-cost, open-source anthropomorphic robotic hand designed for research and experimentation in dexterous manipulation. It features a lightweight, 3D-printable structure with underactuated fingers that balance simplicity, affordability, and functionality."}]},{"type":"paragraph","content":[{"type":"text","text":"The hand is driven by tendons and compact servos, allowing for adaptive grasping of objects with varied shapes and sizes. ORCA v1 emphasizes ease of assembly and modularity, making it accessible for both academic and hobbyist applications. Its design prioritizes reproducibility and flexibility, encouraging collaboration and iterative improvements within the robotics community."}]},{"type":"heading","attrs":{"level":2},"content":[{"type":"text","text":"Technical Specifications"}]},{"type":"heading","attrs":{"level":3},"content":[{"type":"text","text":"Hardware"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Cooling:","marks":[{"type":"bold"}]},{"type":"text","text":" 2 x 12V 50x50x10"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Power Supply:","marks":[{"type":"bold"}]},{"type":"text","text":" 12V 5A PS-10"}]}]}]},{"type":"heading","attrs":{"level":3},"content":[{"type":"text","text":"Materials"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"PLA Filament:","marks":[{"type":"bold"}]},{"type":"text","text":" eSUN PLA (440.86 g)"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Silicone:","marks":[{"type":"bold"}]},{"type":"text","text":" Dragon Skin 10NV Silicone"}]}]}]},{"type":"heading","attrs":{"level":3},"content":[{"type":"text","text":"Degrees of Freedom"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Active DoF:","marks":[{"type":"bold"}]},{"type":"text","text":" 17"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Fingers Actuators:","marks":[{"type":"bold"}]},{"type":"text","text":" 16"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Wrist Actuator:","marks":[{"type":"bold"}]},{"type":"text","text":" 1"}]}]}]}]}]},{"type":"heading","attrs":{"level":3},"content":[{"type":"text","text":"Physical Dimensions"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Weight:","marks":[{"type":"bold"}]},{"type":"text","text":" 2.87 lb (1.3 kg)"}]}]}]},{"type":"heading","attrs":{"level":3},"content":[{"type":"text","text":"Electronics"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Servo Motors:","marks":[{"type":"bold"}]}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Fingers:","marks":[{"type":"bold"}]},{"type":"text","text":" 16 x DYNAMIXEL XC330-T288-T"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Wrist:","marks":[{"type":"bold"}]},{"type":"text","text":" 1 x DYNAMIXEL XC430-T240BB-T"}]}]}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"USB Communication Converter:","marks":[{"type":"bold"}]},{"type":"text","text":" U2D2 Controller"}]}]}]},{"type":"heading","attrs":{"level":3},"content":[{"type":"text","text":"Power"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Input Voltage:","marks":[{"type":"bold"}]},{"type":"text","text":" 12V"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","text":"Power Supply:","marks":[{"type":"bold"}]},{"type":"text","text":" SMPS 12V 5A PS-10"}]}]}]},{"type":"heading","attrs":{"level":2},"content":[{"type":"text","text":"Additional Information"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","marks":[{"type":"link","attrs":{"href":"https:\/\/github.com\/orcahand","target":false}}],"text":"Official ORCA Hand GitHub"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","marks":[{"type":"link","attrs":{"href":"https:\/\/www.orcahand.com\/legacy\/files","target":false}}],"text":"Official ORCA V1 CAD\/STL Files, Assembly Guide, and Bill of Materials"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","marks":[{"type":"link","attrs":{"href":"https:\/\/www.orcahand.com\/paper","target":false}}],"text":"ORCA V1 Research Paper"}]}]}]}]},"contents_rendered":"<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Background_Information\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h2 id=\"Section_Background_Information\" class=\"header\">Background Information<\/h2><\/div>\n\n<p>The ORCA v1 Hand is a low-cost, open-source anthropomorphic robotic hand designed for research and experimentation in dexterous manipulation. It features a lightweight, 3D-printable structure with underactuated fingers that balance simplicity, affordability, and functionality.<\/p>\n\n<p>The hand is driven by tendons and compact servos, allowing for adaptive grasping of objects with varied shapes and sizes. ORCA v1 emphasizes ease of assembly and modularity, making it accessible for both academic and hobbyist applications. Its design prioritizes reproducibility and flexibility, encouraging collaboration and iterative improvements within the robotics community.<\/p>\n\n<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Technical_Specifications\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h2 id=\"Section_Technical_Specifications\" class=\"header\">Technical Specifications<\/h2><\/div>\n\n<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Hardware\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h3 id=\"Section_Hardware\" class=\"header\">Hardware<\/h3><\/div>\n\n<ul><li><strong>Cooling:<\/strong> 2 x 12V 50x50x10<\/li><li><strong>Power Supply:<\/strong> 12V 5A PS-10<\/li><\/ul>\n\n<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Materials\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h3 id=\"Section_Materials\" class=\"header\">Materials<\/h3><\/div>\n\n<ul><li><strong>PLA Filament:<\/strong> eSUN PLA (440.86 g)<\/li><li><strong>Silicone:<\/strong> Dragon Skin 10NV Silicone<\/li><\/ul>\n\n<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Degrees_of_Freedom\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h3 id=\"Section_Degrees_of_Freedom\" class=\"header\">Degrees of Freedom<\/h3><\/div>\n\n<ul><li><strong>Active DoF:<\/strong> 17<ul><li><strong>Fingers Actuators:<\/strong> 16<\/li><li><strong>Wrist Actuator:<\/strong> 1<\/li><\/ul><\/li><\/ul>\n\n<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Physical_Dimensions\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h3 id=\"Section_Physical_Dimensions\" class=\"header\">Physical Dimensions<\/h3><\/div>\n\n<ul><li><strong>Weight:<\/strong> 2.87 lb (1.3 kg)<\/li><\/ul>\n\n<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Electronics\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h3 id=\"Section_Electronics\" class=\"header\">Electronics<\/h3><\/div>\n\n<ul><li><strong>Servo Motors:<\/strong><ul><li><strong>Fingers:<\/strong> 16 x DYNAMIXEL XC330-T288-T<\/li><li><strong>Wrist:<\/strong> 1 x DYNAMIXEL XC430-T240BB-T<\/li><\/ul><\/li><li><strong>USB Communication Converter:<\/strong> U2D2 Controller<\/li><\/ul>\n\n<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Power\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! 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