Usage Constraints

This part lists the capability boundaries and unverified items of the Wuji Hand 2.1 (Beta) prototype. Confirm each one before use.

Capability Boundaries and Items Not Yet Provided

Item	2.1 (Beta) status
Fingertip tactile sensor	Not provided in this version
Simulation model with soft pads	Rigid-body models that include the soft-pad geometry are available. Deformable-body simulation isn’t supported yet

External harness: The wrist directly leads out two cables—XT30 + RJ45 network port.
Operating voltage: Supports only 12 V DC. Connect exactly 12 V. Other voltage ranges aren’t compatible in this version.
Rated power: A supply rated at 200 W or more is recommended. The official adapter meets this.
Change notice: The external interface form and supply voltage range will change in later versions—leave room in your integration design.

The hand must always run with the skin fitted. Don’t operate it without the skin (the skin is user-replaceable).
Fingertip soft-pad hardness is still being tuned. The skin design isn’t finalized.
Soft-pad contact properties, surface friction, appearance, and feel will keep evolving.
The current prototype’s feel, appearance, and soft-pad life don’t represent the final product.

The thermal design is still iterating.
Temperature rise, surface temperature, and throttling behavior under long continuous operation aren’t finally verified.
Don’t run long full-load or high-load continuous tests on the Wuji Hand 2.1 (Beta) prototype.

Whole-unit reliability testing is ongoing.
Wuji Hand 2.1 (Beta) makes no guarantee on durability, life, drop, vibration, or shock.
Contact your point of contact immediately if a prototype is damaged.

Whole-hand motor peak force, rated force, and load curves may change later.
The prototype’s measured load values aren’t committed external values and shouldn’t be a basis for your later design or procurement.

Joint zero-calibration accuracy is still being optimized. The prototype may show larger-than-expected zero errors.
The prototype’s zero accuracy doesn’t represent the final product.

Back-drive torque consistency across joints is still being tuned.
Estimating external joint torque from joint current: the forward path exists in Wuji Hand 2.1 (Beta), but the hardware consistency and calibration accuracy it relies on haven’t converged, and closed-loop performance isn’t verified.
In Wuji Hand 2.1 (Beta), don’t use joint current readings to judge external contact force or torque. These values don’t represent the final product.