WUJI Hand 2

Overview

WUJI Tech, a Shenzhen company, makes the WUJI Hand 2, a five-finger hand with 20 active joints, four per finger. It is aimed at research labs, humanoid makers and teleoperation data collection. Every joint has its own motor, so all 20 move independently and the thumb can oppose each finger. That matches the joint count of the Shadow Dexterous Hand at a fraction of its price. WUJI also sells the Wuji Glove, a tactile data glove that drives the hand for teleoperation. Its open retargeting code also accepts Apple Vision Pro, RealSense, ZED and video input. The maker's wuji-mjlab repo shows the hand spinning a pen on real hardware with a PPO policy trained in simulation.

The joints are back-drivable, meaning outside forces can push the motors back, which helps with soft contact. All 20 axes run at 1 kHz in MIT force-position hybrid control, a mode that blends a position target, a velocity target and a torque feedforward with tunable stiffness. The hand talks over Ethernet and runs on 12 V. WUJI lists a fingertip peak force of at least 12 N, four or more open and close cycles per second, and under 1° of joint backlash. The current 2.2 revision is a Beta prototype without touch sensing. WUJI says its specs, connector and supply voltage will change. A soft pad and skin cover the skeleton, and whole fingers swap out for repair. The first WUJI Hand used USB and position control, and is now archived.