Product Introduction

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Product Overview

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Product Parameters

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Product Structural Features

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Structural Schematic

• A to E in the figure correspond to:
  • A: Thumb
  • B: Index
  • C: Middle
  • D: Ring
  • E: Little
• Numbers 1 to 5 correspond to commonly used anatomical region identifications:
  • 1: Distal phalanges
  • 2: Intermediate phalanges
  • 3: Proximal phalanges
  • 4: Metacarpals
  • 5: Carpals

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Wuji Hand DOF Configuration

• 1: CMC1
• 2: CMC2
• 3: MCP1
• 4: MCP2
• 5: PIP
• 6: DIP

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DOF Motion Direction and Range

• Thumb
  • 1: Carpometacarpal abduction/adduction, motion range approximately 100°
  • 2: Carpometacarpal lateral swing, motion range approximately 80°
  • 3: Flexion/extension, motion range approximately 130°
  • 4: Flexion/extension, motion range approximately 130°
• Little Finger
  • 1: Flexion/extension, motion range approximately 125°
  • 2: Lateral swing, motion range approximately 60°
  • 3: Flexion/extension, motion range approximately 130°
  • 4: Flexion/extension, motion range approximately 130°

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Communication and Power Interface Schematic

• Numbers 1 to 3 in the figure are:
  • 1: USB data cable connection end (plugged into the dexterous hand device)
  • 2: USB data cable other end (connected to host computer or robot controller)
  • 3: XT30 power interface for external power supply

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Product Electrical Characteristics

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Pin Definition

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Indicator Light Reference Table

Indicator Light Color		Status Symbol	System Phase Description	Description
	No Light	OFF	Powered off/unpowered state	Power supply not connected or main power failure
	Blue Solid	Bootloader	Firmware update or bootloader	Device is in bootloader. If device is performing firmware upgrade, strictly prohibit power disconnection or cable reconnection to avoid system damage
	Green Flashing	Standby	Normal standby	Power supply normal, system normal, not connected to host computer or SDK
	Green Solid	Running	Normal operation	Power supply normal, system started, connected to host computer or SDK
	Yellow Solid	Warning	Device warning	System detected warnings such as high temperature, power fluctuation, and other non-fatal faults. Pause debugging and investigate the warning cause
	Red Flashing	Pre-fault	Fault warning	Warning of impending fault, such as temperature approaching overtemperature threshold
	Red Solid	Fault	Critical fault	Serious hardware/software fault (such as main MCU abnormality, communication out of sync, etc.). Disable immediately and troubleshoot via host computer (observe indicator light, terminal log, reset/factory restore)

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Product Accessories Introduction

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Product Accessories Table

Image	Name	Description
	12V 20A Power Adapter	Power supply
	Power Adapter AC Cable
	Impact-resistant Adapter	See Impact-resistant Adapter
	Direct-mount Adapter	Connects Wuji Hand to user equipment (such as robot arm flange)
	Toolkit	Hex wrench Pry bar: for separating the latched impact-resistant adapter
	Accessory Kit	Socket head cap screws: M4x6, M5x10, M6x10 XT30 female connector
	USB A to USB C Cable	For communication between host device and Wuji Hand
	Tactile Sensing Glove (Optional)	See Tactile Sensing Glove Whether it ships with Wuji Hand, and the left- or right-hand fit, depend on your order

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Tactile Sensing Glove

• High sensing density: Full-palm uniformly distributed sensor array, more than 400 sensors, each independently capturing contact states, with super-resolution further enhancing perception
• High compliance: Fully flexible Nerve skin (flexible sensing skin) accommodates bending and stretching, forming a dynamic sensing array that conforms closely to objects

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System Requirements

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Glove Specifications

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Connection

1. Connect the circle marker end of the bundled short data cable to the Brain Watch bridge port (circle marker). Route the other end around the inner wrist of Wuji Hand and connect it to the Wuji Hand communication port.
2. Use a USB-C (USB 2.0 or higher) data cable to connect to the PC — connect either USB-C end to the Brain Watch output port (triangle marker), and the other end to the PC.

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Communication Interface

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Software Support

• Connection: connect() / disconnect() / is_connected(), with multi-device addressing by USB serial number
• Frame reading: blocking read_frame(timeout_ms) or callback-based start_streaming(callback) / stop_streaming()
• Device info: get_device_info() (serial / hardware / firmware version), get_fw_build(), get_handedness()
• Diagnostics: get_diagnostics() (uptime, frame count, CRC errors, drops, USB resets), reset_counters()
• Runtime config: get_sample_rate_hz() / set_sample_rate_hz() (1–120 Hz), set_streaming(enable)
• Time sync: get_device_time(), sync_host_epoch(host_unix_ns) for multi-device alignment
• Lifecycle: reset_device() for soft reset
• Error handling: USB disconnection triggers DisconnectCallback. C++ raises ConnectionLostError, and Python raises the corresponding exception

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Impact-resistant Adapter

• Normal state: Twist-lock and set screws are tightened to ensure structural stability and prevent loosening due to daily vibration or minor impacts.
• Abnormal state: Automatically releases when exceeding the safety threshold, with Wuji Hand suspended by the safety chain to avoid secondary impact or falling hazards.

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Installation and Removal

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Installation Steps

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Precautions

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Fastening Check

• Use recommended specification screws. Screws of insufficient length or incorrect specifications are strictly prohibited
• It is recommended to tighten screws in a diagonal sequence to ensure even flange surface contact
• If possible, configure a recommended torque wrench according to screw specifications to ensure tightening torque meets standards

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Maintenance and Inspection

• After each installation or removal, check whether the safety chain and twist-lock are flexible, unworn, and whether the attachment points are loose
• If impact-resistant release is triggered during operation, check whether installation screws are loose and whether the twist-lock locking mechanism is intact before reinstallation

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Wuji SDK Data Types

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HandJointStates

{
  "header": { "seq": 42, "timestamp_us": 1709876543210, "frame_id": "" },
  "position": [0.001, -0.012, 0.087, 0.045, ...],
  "velocity": [],
  "effort": []
}

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HandJointCommand

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TactileGloveFrame

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Wuji Hand SDK Subscription

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Wuji Hand Data Subscription

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Subscribing to joint state

sub = hand.joint_states().subscribe()
for _ in range(100):
    state = await sub.recv_async()
    print(f"seq={state.header.seq}, joint0={state.position[0]:+.3f}")
sub.close()

void on_state(WujiFrameKind kind, const WujiHandJointStates *frame, void *user) {
    if (kind != WUJI_FRAME_KIND_OK) return;
    printf("seq=%u, joint0=%+.3f\n", frame->header.seq, frame->position[0]);
}

WujiSub *sub = NULL;
wuji_hand_subscribe_joint_states(hand, on_state, NULL, &sub);
// ... after receiving in the background for a while
wuji_sub_close(sub);

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Publishing joint commands (realtime control)

from wuji_sdk import JointCommand, LowPass

with hand.realtime_controller(LowPass(cutoff_hz=5.0)) as ctrl:
    publisher = hand.joint_command().publish()
    joints = [JointCommand(0.0, 0.0, 0.0)] * 20
    joints[0] = JointCommand(0.3, 0.0, 0.0)
    publisher.send(joints)
    print(ctrl.get_actual_position()[0], ctrl.get_actual_effort()[0])
    publisher.close()

WujiRealtimeController *ctrl = NULL;
WujiLowPass filter = { .cutoff_hz = 5.0 };
wuji_hand_realtime_controller_open(hand, filter, &ctrl);

WujiHandJointCommandPublisher *pub = NULL;
wuji_hand_joint_command_publish(hand, &pub);

WujiJointCommand joints[20] = {0};
joints[0].position = 0.3f;
wuji_hand_joint_command_publisher_send(pub, joints);

float actual_pos[20], actual_eff[20];
wuji_hand_realtime_controller_get_actual_position(ctrl, actual_pos);
wuji_hand_realtime_controller_get_actual_effort(ctrl, actual_eff);
printf("%.3f %.3f\n", actual_pos[0], actual_eff[0]);

wuji_hand_joint_command_publisher_close(pub);
wuji_hand_realtime_controller_close(ctrl);

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Effort limits

hand.set_all_effort_limit(1.5)
limits = hand.get_all_effort_limit()

wuji_hand_set_all_effort_limit(hand, 1.5f);

float limits[20];   // finger-major order
wuji_hand_get_all_effort_limit(hand, limits);

• Default is 1.5 A, suitable for most applications
• Valid range is 0.0 to 3.5 A — values above 3.5 are clamped to 3.5

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Tactile sensing glove companion data

if hand.is_tactile_attached():
    tactile_sub = hand.tactile.subscribe_pressure_frame()
    frame = await tactile_sub.recv_async()
    print(f"max pressure: {max(frame.pressure):.2f}")
    tactile_sub.close()

void on_pressure(WujiFrameKind kind, const WujiTactileGloveFrame *frame, void *user) {
    if (kind != WUJI_FRAME_KIND_OK) return;
    float max = 0.0f;
    for (size_t i = 0; i < frame->pressure_len; i++) {
        if (frame->pressure[i] > max) max = frame->pressure[i];
    }
    printf("max pressure: %.2f\n", max);
}

bool attached = false;
wuji_hand_is_tactile_attached(hand, &attached);
if (attached) {
    WujiSub *tactile_sub = NULL;
    wuji_hand_subscribe_tactile_pressure_frame(hand, on_pressure, NULL, &tactile_sub);
    // ... after receiving in the background for a while
    wuji_sub_close(tactile_sub);
}