GEX Series
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Overview
GEX is an ultra-low-cost dexterous manipulation system developed with the goal of Democratizing Dexterity. It provides a closed-loop teleoperation framework consisting of the GX11 robot hand and EX12 exoskeleton glove.
| Item | GX11 Hand | EX12 Glove |
|---|---|---|
| DoF | 11 | 12 |
| Price | ~$600 | - |
| Assembly Time | Under 4 hours | - |
| Number of Fingers | 3 (thumb, index, middle) | 3 |
| Cost Comparison | 1/125 of Shadow Hand, 1/20 of Allegro (per paper) | - |
GX11 Hand Detailed Specs
Mechanical
| Item | Spec |
|---|---|
| DoF Configuration | Thumb 3 DoF + Index 4 DoF + Middle 4 DoF |
| Material | ABS plastic (3D printed) |
| Drive Method | Fully-Actuated |
| Design Base | 3-finger design based on LEAP Hand |
Actuators
| Item | Spec |
|---|---|
| Motor | Dynamixel XL330-M288-T |
| Torque | 0.53Nm (rated) |
| Gear Ratio | 288:1 |
| Weight | 18g / actuator |
| Size | 24.5 x 33 x 25 mm |
Sensing and Control
| Item | Spec |
|---|---|
| Encoder | AS5601 (12-bit absolute position) |
| Position Resolution | 0.088° |
| Communication | TTL Multidrop Bus (up to 1Mbps) |
| Power | 5V DC |
| Control Modes | Current/velocity/position control |
| Processor | ARM Cortex-M0+ |
Key Significance
Democratizing Dexterity
The greatest significance of the GEX project is dramatically lowering the barrier to entry for dexterous manipulation research.
Existing problems:
- Shadow Hand ($75K+): Excellent performance but unaffordable for most labs
- Allegro Hand ($12K+): Mid-range price but still high initial cost
- Tendon-driven systems: Difficult maintenance, cable wear issues
GEX solutions:
- Under $600 manufacturing cost enables anyone to research dexterous hands
- Fully-actuated approach eliminates tendon system complexity
- 3D print based for immediate replication and repair
- Under 4 hours assembly for rapid deployment
Accelerating VLA Research
Proliferation of affordable dexterous hands directly impacts VLA (Vision-Language-Action) research:
- Expanded Data Collection: More labs can generate dexterous manipulation data
- Teleoperation Accessibility: High-quality demonstration data acquisition through EX12 glove integration
- Distributed Research: Inexpensive replication of same platform promotes multi-site research
Design Philosophy
Why 3 Fingers?
Reasons for adopting 3-finger structure departing from LEAP Hand’s 5-finger design:
- Maximum Flexibility: Most manipulation tasks achievable with thumb, index, and middle fingers only
- Human Hand Mimicry: Reproduces core human grip patterns (precision grip, power grip)
- Reduced Complexity: Weight and size optimization, simplified control
- Cost Reduction: Reduced BOM cost through fewer actuators
Fully-Actuated vs Tendon-Driven
| Characteristic | Fully-Actuated (GEX) | Tendon-Driven (Shadow) |
|---|---|---|
| State Observability | Fully observable | Errors from cable stretch |
| Kinematics Modeling | Accurate | Nonlinear elements exist |
| Maintenance | Simple | Cable replacement required |
| Force Transmission | Direct | Friction losses |
| Compactness | Relatively larger | Can be compact |
Cost Analysis
BOM (Bill of Materials) Estimate
Costs below are estimates based on general market prices; actual costs may vary by vendor/quantity
| Item | Quantity | Unit Price (est.) | Subtotal |
|---|---|---|---|
| Dynamixel XL330-M288-T | 11 | ~$50 | ~$550 |
| 3D Printed Parts (ABS) | 1 set | ~$20 | ~$20 |
| AS5601 Encoder | Built-in | - | - |
| Wiring/Connectors | 1 set | ~$15 | ~$15 |
| Other Hardware | - | ~$15 | ~$15 |
| Total | ~$600 |
Not included: Controller, power supply, assembly tools
Cost Comparison with Other Products
Paper states 1/125 cost of Shadow Hand, 1/20 of Allegro
| Product | Price (per paper) | Cost Ratio |
|---|---|---|
| Shadow Hand | $75,000+ | 125x |
| Allegro Hand | $12,000+ | 20x |
| Clone Hand | ~$2,800 | ~5x |
| LEAP Hand | ~$2,000 | ~3x |
| GEX GX11 | ~$600 | 1x |
Note: Shadow Hand, Allegro prices reverse-calculated from paper-stated ratios (1/125, 1/20). Actual market prices may vary
Total Cost of Ownership (TCO) Perspective
GEX advantages go beyond initial cost:
- Repair Cost: Immediate 3D print replacement when damaged (~$20/part)
- Upgrades: Modular design allows individual finger replacement
- Scalability: Multiple purchases affordable (dual-arm system $1,200)
Assembly and Usage
Assembly Process
- 3D Printing (2-3 hours): Print ABS parts
- Motor Installation (1 hour): Mount Dynamixel actuators
- Wiring (30 min): Connect TTL bus
- Calibration (30 min): Set position zero points
Teleoperation Setup
GX11 is used in combination with EX12 exoskeleton glove:
- Total 23 DoF closed-loop system
- High-fidelity control through kinematics retargeting algorithm
- Indirect force sensing via torque estimation based on current control mode (no separate haptic sensors)
Limitations and Considerations
Current Limitations
- 3-Finger Limitation: Tasks requiring 5 fingers not possible
- Sensing: No separate tactile sensors (only current-based torque estimation available)
- Waterproofing/Dustproofing: Research use, unsuitable for industrial environments
- Payload: Heavy object manipulation limited
Suitable Applications
- Data collection for VLA/reinforcement learning research
- Demonstration learning based on teleoperation
- Educational platforms
- Low-cost prototyping
Unsuitable Applications
- Industrial production environments
- High-precision assembly tasks
- Long-term continuous operation
References
- Paper: Dong, Y., Liu, X., Wan, J., & Deng, Z. (2025). “GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove.” arXiv:2506.04982
- Actuator: Dynamixel XL330-M288-T
See Also
- Hardware List
- LEAP Hand - Similar low-cost design
- Shadow Hand - High-performance benchmark
- Allegro Hand - Mid-range alternative