China’s Wuji Hand vs Tesla: The Battle for Humanoid Bot Hand Supremacy

Wuji Tech's humanoid robot hand demonstrates advanced dexterity and design, positioning it as a competitor to Tesla's robotic innovations, while both face challenges in achieving human-like functionality

Questions to inspire discussion

Hand Design and Capabilities

🖐️ Q: What are the key differences between Wuji Tech's microdrive hand and Tesla's Optimus hand?
A: Wuji's hand uses in-phalanx actuators embedded in fingers, while Tesla's uses a tendon-driven system from the forearm, allowing Wuji's hand 20 degrees of freedom and a 20kg grip test.

🤖 Q: How does Wuji's hand design improve dexterity?
A: Wuji's hand allows individual control of every IP joint, unlike tendon-based hands with coupled joints, enabling gestures humans can't perform like the scissors demo and 5kg pinch lift.

💪 Q: What is the fingertip force of Wuji's hand?
A: Wuji's hand has a fingertip force of 15 newtons (about 3.3 pounds), which is impressive for a hand using direct drives.

🏋️ Q: How much weight can Wuji's hand lift?
A: Wuji's hand can pick up a 20kg jug of water, which is reasonable for its size and design.

Anatomical Accuracy

👍 Q: How anatomically accurate is Wuji's hand?
A: Wuji's hand is true to human anatomy in terms of palm line and finger proportions, unlike other hands that are oversized or undersized.

👎 Q: What anatomical details does Wuji's hand get wrong?
A: Wuji's hand has some inaccuracies in finger length and thumb opposition.

🧤 Q: How does the glove affect the hand's appearance?
A: The glove adds thickness and cushioning, making it look more human-like, but the pinkie finger is shorter than it should be, and the glove links are all the same length.

Technical Specifications

⚙️ Q: What technology does Wuji use for its microdrives?
A: Wuji Tech specializes in making motors and windings, allowing for exquisitely wound and miniaturized microdrives embedded in the fingers.

🔢 Q: How many degrees of freedom does Wuji's hand have?
A: Wuji's hand has a 20-degree of freedom design with 4 DOF in each of the 3 fingers and 4 DOF in the thumb.

👍 Q: What's unique about the thumb's design in Wuji's hand?
A: The thumb has a unique CMC joint design with 3 axes of rotation, but only 2.5 degrees of freedom due to non-orthogonal rotation axes.

Mechanical Design

📐 Q: How does the Fibonacci sequence relate to the hand's design?
A: The Fibonacci sequence is crucial for finger biomechanics, ensuring a tight fit of the grip when fully flexed.

⚙️ Q: What is the IP reducer and how does it work?
A: The IP reducer is a gearbox that builds up each finger, forming a T-shaped connection to the Y-section of the joint.

🔄 Q: How does the abduction joint work?
A: The abduction joint uses a parallelogram linkage with red and blue axes rotating in parallel, ensuring equal rotation angles.

🔩 Q: What is the four-bar linkage and how is it activated?
A: The four-bar linkage in the knuckle is activated by a worm gear that rotates the output shaft 90 degrees.

Performance and Control

🎹 Q: What fine motor tasks can Wuji's hand perform?
A: Wuji's hand can perform tasks like playing the piano or drawing with a pen due to its 20 fully actuated rotary joints.

🔄 Q: How does Wuji's hand handle sim-to-real transitions?
A: Wuji's microdrives provide extreme control and serial actuation, eliminating concerns about tendon coupling and sim-to-real gaps.

📊 Q: How does Wuji's hand provide feedback?
A: Wuji's hand has 20 output encoders and 20 input encoders for precise position and force feedback, allowing direct control without sensors in the tips.

⚡ Q: What type of motors does Wuji's hand use?
A: Wuji's hand uses brushless servo motors with a 1000 hertz communication bandwidth for fast and precise control.

Comparison with Tesla's Optimus

🏆 Q: How does Wuji's hand compare to Tesla's in sim-to-real performance?
A: Wuji's hand outperforms Tesla's in sim-to-real and fine motor control, according to experts Scott Walter and Gustav Andersson.

🔧 Q: What advantage does Wuji's design have over Tesla's tendon system?
A: Wuji's in-phalanx actuators provide direct control and fine motor movement, unlike Tesla's forearm tendon system which struggles with sim-to-real transitions.

💪 Q: How do the grip strengths of Wuji and Tesla's hands compare?
A: Wuji's hand has a 20kg grip test, while specific data for Tesla's hand is not provided in the notes.

Future Implications

🌐 Q: What does this competition mean for the humanoid robotics field?
A: The clash between Wuji and Tesla could redefine humanoid robotics, particularly in hand design and capabilities.

🔬 Q: How might Wuji's innovations impact future robot hand designs?
A: Wuji's microdrive technology and high degree of freedom design could influence future robot hands to prioritize dexterity and direct control.

🤝 Q: What potential applications could benefit from Wuji's hand design?
A: Wuji's hand design could benefit applications requiring fine motor control and strong grip strength, such as manufacturing, healthcare, and service industries.

Key Insights

Innovative Design and Performance

1. 🖐️ Wuji Tech's humanoid robot hand features 20+ degrees of freedom and a 20kg grip test, outperforming Tesla's tendon-powered Optimus hand in articulation and payload capacity.
2. 🔬 The hand uses microdrives embedded in the fingers, allowing for individual control of every IP joint, unlike tendon-based hands with coupled joints and limited articulation.
3. 💪 Wuji hand's fingertip force is 15 newtons (1.5 kg or 3-4 pounds), with a static grip load capable of lifting a 20kg water jug.
4. 🤖 The hand's in-phalanx actuators enable super dextrous movements and gestures that humans cannot perform, surpassing tendon-based designs.
5. 🧠 Wuji's design reduces the sim-to-real gap, improving performance and functionality compared to Tesla's forearm tendon system.

Mechanical Innovations

1. 🔢 The Fibonacci sequence is crucial for finger biomechanics, ensuring a tight grip when fully flexed.
2. ⚙️ An IP reducer gearbox builds up each finger, allowing precise control and movement.
3. 🔗 The motor interconnect in the proximal flange uses a simple bevel gear to change rotation direction and increase torque.
4. 🔄 A four-bar linkage in the knuckle is key for flexion, with four pivot points and a complex system of linkages and levers.
5. 👍  The thumb is mounted backwards compared to other fingers, with a motor built into the distal joint for rotation and opposition.

Sensory and Control Systems

1. 📡 Fingertip sensors are designed to be soft and pliable, with space for embedding sensors under the glove.
2. 🎛️ The hand uses 20 fully actuated rotary joints for fine motor control, enabling tasks like playing piano or drawing.
3. 🔌 A well-integrated cabling system with flat flexi cables withstands repeated flexion and extension.
4. 🎮 Brushless servo motors with 20 output and 20 input encoders provide direct position control without fingertip sensors.

Anatomical Considerations

1. 🖐️ The hand has 20 degrees of freedom: 4 in each finger (IP and MCP joints) and 4 in the thumb (CMC joint).
2. 🏋️ A beefier actuator in the palm focuses on flexion, crucial for grip strength.
3. 🔄 A back link compensates for the limited range of motion in the thumb and pinky fingers.
4. 🥄 The hand features a cupped palm with a natural arch due to resting muscle tonus, important for grasping and lifting.

Comparative Advantages

1. 🏆 Wuji's hand outperforms Tesla's Optimus in sim-to-real transitions and fine motor control.
2. ✂️ The Wuji hand can perform tasks like using scissors, demonstrating superior dexterity.
3. 🏋️♀️ It achieves a 5kg pinch lift and a 20kg power grip, showcasing impressive strength.
4. 👌 The thumb can oppose both pinky and index fingers for a good grip, unlike some competitors.

Future Implications

1. 🌐 This technology could redefine humanoid robotics and impact the global robotics race.
2. 🔬 Miniaturization of components like the motor interconnect presents ongoing engineering challenges.
3. 🧤 The glove design is in early stages, with potential for improved coverage and protection.
4. 🤖 Wuji's advancements may accelerate progress in humanoid robot capabilities and applications.

Technical Specifications

1. 🔢 The hand uses 20 output encoders and 20 input encoders for precise position control.
2. 🦴 Skeletal bones are thin, with a glove adding thickness and cushioning for a realistic appearance.
3. 👆 The pinky finger is shorter than anatomically correct due to knuckle offset.
4. 🔋  The hand uses a serial and extremely controlled actuation strategy compared to tendon-powered designs.

#HumanoidRobots #Cobots #Wuji #Hands

XMentions: @TheHumanoidHub @HabitatsDigital @RoydenDSouza @GoingBallistic5 @AnatomyMea 

Over the Horizon: WatchUrl:https://www.youtube.com/watch?v=YBIMjXdyh5U

Clips

• 00:00 🤖 Wuji Tech's humanoid bot hand excels in dexterity and design, showcasing advanced articulation and grip strength, but still lacks the lifting capacity of a human hand, sparking comparisons with Tesla's robotic innovations.
  • Wuji Tech's humanoid bot hand showcases advanced articulation without tendons, emphasizing limitless possibilities in robotics.
  • The robust design of the humanoid bot hand lacks visible sensors but may incorporate advanced motor technology for improved functionality and miniaturization.
  • The Wuji hand is a lightweight, highly dexterous robotic hand with individual control of all joints, allowing for advanced gestures beyond human capability.
  • China's Wuji Hand demonstrates impressive grip strength and anatomical accuracy compared to human hands, utilizing a unique actuation strategy, though it still falls short of the lifting capacity of an average human hand.
  • The discussion focuses on the design and functionality of humanoid robot hands, comparing their anatomical accuracy and actuation methods, particularly in relation to Tesla's bot hand.
  • A small design for humanoid robot hands may be too weak to function effectively.
• 14:43 🤖 China’s Wuji Hand and Tesla are competing in humanoid robot hand design, focusing on mechanical robustness, joint placement, and innovative actuation systems for improved functionality.
  • The MCP joint's mechanical design features a unique order of operation for flexion and abduction compared to Tesla's approach.
  • The design of humanoid robot hands often features joint offsets that hinder natural finger movement, with the Neos hand being a notable exception for its anatomical accuracy.
  • The discussion focuses on the design and mechanical robustness of humanoid robot hands, particularly the placement of joints and motors in relation to stress and functionality.
  • The design of the thumb incorporates a unique actuation system where motors in the medial flange control the distal tips, with a gearbox facilitating motor rotation and considerations for size reduction in the motor interconnect.
  • The Fibonacci sequence is crucial for the biomechanics of fingers, ensuring proper fit and function during flexion.
  • The motor in the humanoid bot's finger is aligned incorrectly, requiring a mechanism to convert its rotation direction, likely using a bevel gear for torque adjustment.
• 24:16 🤖 China’s Wuji Hand and Tesla are competing in humanoid robot hand technology, tackling complex engineering challenges in design, actuation, and mechanics for improved functionality.
  • Miniaturizing robust robotic hands involves complex engineering challenges, requiring specialized skills to integrate motors and electronics effectively.
  • The actuating mechanism of the humanoid bot hand involves a parallelogram structure that connects levers and motors, allowing for coordinated movement, though design constraints may have influenced the chosen approach.
  • The Pan Motors brochure reveals key details about the design and actuation mechanisms of their humanoid robot hand, highlighting the use of four bar linkages and worm gears for joint movement.
  • The design of the humanoid bot's hand features a thicker palm housing a larger motor for increased torque at the MCP joint, optimizing its ability to grasp objects effectively.
  • The discussion focuses on the mechanics of finger movement in humanoid robots, emphasizing load distribution and the durability of integrated cables in the joints.
  • The discussion focuses on the use of a flat flexi cable for the abduction joint in humanoid robots, contrasting it with the idea of using small batteries in the joints.
• 40:41 🤖 China’s Wuji hand, with 20 degrees of freedom and advanced thumb movement, aims to surpass Tesla's humanoid bot hand in grasping capabilities despite current limitations in achieving natural thumb opposition.
  • The discussion centers on the design and functionality of the Wuji hand, particularly its glove and fingertip sensors, which aim to enhance the robot's ability to grasp small, sharp objects effectively.
  • The Wuji hand features a unique design with 20 degrees of freedom, particularly in the thumb, allowing for advanced movement and flexibility compared to other robotic hands.
  • The discussion focuses on the complexities of joint rotations in humanoid robot hands, particularly the limitations in achieving true degrees of freedom that mimic natural thumb movement.
  • The discussion highlights the limitations of a robotic hand's ability to achieve true opposition and effective grip compared to the superior design of the apex hand, emphasizing the importance of thumb rotation and finger joint mechanics for successful grasping tasks.
  • The discussion focuses on the design and functionality of humanoid robot hands, particularly the thumb's movement and its importance in grasping, highlighting potential limitations in current robotic implementations.
  • The hand's mounting position is slightly off-center, which is not ideal.
• 58:46 🤖 China's Wuji Hand surpasses Tesla's bot in dexterity and adaptability due to its advanced design and control, highlighting the importance of joint optimization and sensory feedback in humanoid robot hands.
  • The design of humanoid robot hands, particularly the palm shape and muscle actuation, significantly impacts their ability to grasp and stabilize objects effectively.
  • The design of the humanoid robot hand fails to optimize joint angles and actuator placement, limiting natural motion and grip strength.
  • The discussion focuses on the design and functionality of humanoid robot hands, comparing the morphology of different models to assess their grip capabilities and overall effectiveness.
  • China's Wuji Hand features 20 degrees of freedom and advanced control for fine motor tasks, outperforming Tesla's bot in dexterity and adaptability for activities like playing musical instruments.
  • Brushless servo motors in humanoid robots offer reduced maintenance and improved control through high communication bandwidth and encoder feedback, though additional sensors in the fingertips would enhance functionality.
  • Cameras can provide visual feedback, but developing a glove with built-in sensors for haptic feedback is essential for enhancing robotic hand functionality.
• 01:12:49 🤖 China's Wuji Hand showcases advanced humanoid design and grip strength, sparking debate over its functionality and challenges in object manipulation compared to Tesla's efforts.
  • China's Wuji Hand prototype demonstrates impressive humanoid design and functionality, particularly in its ability to manipulate objects using just two fingers.
  • The discussion highlights the impressive grip strength and precision of a humanoid robot hand, capable of manipulating weights effectively with just two fingers and demonstrating a strong power grip using all fingers.
  • The discussion highlights the challenges and nuances of demonstrating hand functionality in humanoid robots, particularly focusing on the difficulties of grasping objects correctly.
  • The discussion highlights the challenges of using scissors with a humanoid robot hand, emphasizing the importance of finger positioning and pressure for effective cutting.
  • The discussion highlights the complexities of using scissors with different hand orientations, emphasizing the need for specific thumb and finger pressure to achieve effective cutting.
  • The speaker expresses skepticism about the bot's capabilities while humorously referencing the game rock-paper-scissors.
• 01:19:47 🤖 Tesla's humanoid bot hand excels in precision and repeatability, showcasing advancements in design and functionality that may surpass traditional human-like models.
  • Tesla's humanoid bot hand demonstrates superior repeatability and precision, achieving consistent positioning within 10 micrometers, which is crucial for tasks requiring stability, such as microsurgery.
  • The discussion highlights the impressive capabilities of a new humanoid robot hand, emphasizing its fine motor control and unique design compared to other robotic hands.
  • A more durable and mechanically innovative design for humanoid robot hands, which doesn't rely on human-like tendons, may offer better performance and strength.
  • The design of humanoid robot hands faces limitations in dexterity and control due to mechanical coupling, but advancements in motor integration and linkage systems aim to improve functionality.
  • The discussion highlights the complexity of human hand mechanics, emphasizing the potential for alternative designs in robotic hands that may outperform traditional human-like models.
  • The discussion highlights the challenges faced by individuals with atypical hand formations, such as mirror hands, and the cultural perceptions surrounding hand design in animation and prosthetics.
• 01:30:57 🤖 Wuji Tech's minimalist humanoid robot hand design competes with Tom Jang's tendon-rich approach, highlighting the rise of Chinese robotics innovation.
  • Wuji Tech's approach to humanoid robot hands, featuring fewer tendons, contrasts with Tom Jang's design that utilizes more tendons for enhanced fine control.
  • The emergence of Chinese robotics, particularly from Biji Tech, is fostering competition and innovation in humanoid technology.

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Duration: 1:33:10

Publication Date: 2025-09-21T22:11:08Z

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