Franka Hand

The standard two-finger parallel electric gripper that ships with Franka robot arms.

Franka Hand is the electric two-finger parallel gripper made by Germany's Franka Robotics (formerly Franka Emika) for its Panda and FR3 robot arms; the two fingers translate toward and away from each other to open and close. Official specs list an 80 mm stroke, 70 N continuous grip force (140 N max), and a weight of about 0.7 kg; the fingertips are swappable, and researchers often 3D-print custom fingertips for different objects. Because Franka arms are extremely common in academic labs, this gripper and its simulated model have become the default end effector (the part mounted at the arm's tip that touches objects) in a huge share of manipulation papers and benchmarks. It is controlled through libfranka, which handles opening, closing, and grip force.

ExampleIn simulation benchmarks like robosuite and LIBERO, the Panda arm's default gripper is modeled on the Franka Hand.

Also called

Panda Gripper, Franka Emika Hand

Related

Parallel Jaw Gripper · Electric Gripper · Franka Emika Panda / Franka Research 3 · End Effector · libfranka / Franka Control Interface (FCI) · Robotiq 2F-85 Gripper

Sources

Franka Hand - Franka Robotics
Franka Hand Product Manual (2022)

As of

2026-09