Dexterous Robot Hands
for Humanoid Platforms

All DELTO Grippers ship with the following components:

5-Finger DELTO Gripper · Gripper Cable (power cable) · Ethernet Cable (3M) · Bolt Set · Adapter Frame · 4GB USB (sample program & user manual).

The DELTO Gripper offers two control modes:

1. Operator Mode — The gripper has a built-in controller that allows operation through Modbus Protocol. Users can easily control the gripper by modifying the register map.

2. Developer Mode — Direct control of each joint. The built-in controller is bypassed, and users can control the gripper with a custom-developed controller.

Operator Control Mode supports Modbus RTU (RS-485) and Modbus TCP (TCP/IP), where the gripper functions as a Modbus Slave (Server).

Developer Control Mode operates over TCP/IP and uses a proprietary protocol provided by Tesollo, with the gripper functioning as a Server.

The positional accuracy of the motors is ±0.1°. However, since each finger consists of multiple serially connected motors, accuracy at the fingertip may vary and could be greater than ±0.1° depending on conditions.

The communication cycle between the gripper and the controller is at least 400 Hz. This may vary depending on the specifications of the controller (PC or other devices).

Yes, the DELTO Gripper supports both ROS and ROS2. Since ROS is no longer officially maintained, future updates and new product lineups will support ROS2 only — Tesollo recommends ROS2 for compatibility with future developments.

GitHub repository: github.com/Tesollo-Delto (refer to the README for usage instructions).

Yes, customers who purchase the gripper will receive a dummy model in STEP file format along with DH-Parameters. Contact Knoxlabs for kinematic model files.

Yes, modifications are possible. The default fingertip material is silicone, but it can be modified according to the hardware specifications of the gripper. Tesollo provides customized fingertip modification services tailored to specific environments — modification costs vary depending on the requirements. Contact Knoxlabs for details.

The DELTO Gripper integrates with collaborative robots (cobots) and industrial robots. The adapter frame supports ISO 9409-1-50-4-M6 and is compliant with the ISO 9409-1 international standard.

If your controller supports the Modbus Protocol (Master/Client function), the integration process will be easier. For humanoid platforms, custom mounting adapters may be required (additional cost).

The DELTO Gripper DG-3F model is certified with CE, FCC, and IP3X. The DG-5F line carries an IP3X protection rating. Confirm certification details for your specific model with Knoxlabs at time of order.

The standard warranty period is 1 year. Damages caused by user negligence are not covered under warranty, and repair costs are charged separately. Consumable parts, surface scratches, and wear from usage are not covered. For after-sales support, repairs, and any extended service options, contact Knoxlabs.

Knoxlabs supports Tesollo pricing and configuration for US and Americas customers. Quotes including MANUS and SenseGlove bundles are available directly from Knoxlabs. Use the form below or email hello@knoxlabs.com.