> ## Documentation Index
> Fetch the complete documentation index at: https://docs.wuji.tech/llms.txt
> Use this file to discover all available pages before exploring further.

# Usage Constraints

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

## Capability Boundaries and Items Not Yet Provided

| Item | 2.1 (Beta) status |
| - | - |
| Fingertip tactile sensor | Not provided on Wuji Hand 2.1 (Beta). Provided on Wuji Hand 2.2 (Beta) hardware and later<br />Wuji Hand 2.2 (Beta) delivery: fingertip tactile sensors (point array: 40 sensing points on the thumb, 34 on the other fingers, each point reporting 3-axis force plus temperature). Requires firmware v2.1.0 and SDK v2026.7.21 or later, upgraded together<br />See [SDK Reference](/en/docs/wuji-hand/beta1/sdk-reference) for the API |
| Simulation model with soft pad | Not provided in this version, provided later |

## Electrical and Power (Strong Constraints)

* **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.

## Soft Pad and Skin

* 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.

## Thermal

* 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.

## Reliability and Durability

* 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.

## Motor Load Capacity

* 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

* 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.

## Joint Back-Drive and Torque Transparency

* 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.


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