Robotis

“We deploy the system on a 27-DoF platform (a 7-DoF Flexiv Rizon 4 arm and a 20-DoF Robotis 5F hand)”

“Robotis (Dynamixel) — Handroid uses three types of Dynamixel actuators (XC330-T288-T, XM430-W210-T, 2XC430-W250-T) as its sole actuation platform, controlled through a TTL bus (Section 3.2, Appendix I).”