UMI Gripper

Capture
Specification-based configuration

Handheld manipulation demonstrations

System overview

Built around
your research.

Record human manipulation with a parallel two-finger gripper. Video, inertial measurements and opening width are paired within task episodes. The GT variant adds normal and tangential fingertip force measurements.

Global-shutter video: 60 FPS
IMU sampling: 500 Hz
Width and GT tactile output: 100 Hz

Configuration, lead time and delivery scope confirmed with your inquiry.

Design & capability

Designed for the task.

Two variants, one workflow

UMI-GB records video, IMU and gripper width. UMI-GT adds fingertip tactile sensing for contact, slip and deformable-object research.

Record locally, archive reliably

Completed episodes are written to SD before entering the NAS synchronization queue. Configured devices can continue offline until storage is full.

Separate collection from deployment

Robot deployment requires calibration, action mapping and task evaluation. Collection alone does not establish improved learning performance.

Specifications

Configuration details and measurement conditions.

GB and GT comparison
Specification	UMI-GB	UMI-GT
Video / IMU / width	Included	Included
Fingertip normal / tangential force	Not included	Included
Working distance	10-30 cm	10-30 cm
Video	1600 x 1200, 60 FPS, global shutter	1600 x 1200, 60 FPS, global shutter
IMU	500 Hz	500 Hz
Gripper opening	0-80 mm	0-80 mm
Repeatability	<= +/-0.5 mm	<= +/-0.5 mm
Width output	100 Hz	100 Hz
Recording	Local storage / Wi-Fi / NAS sync	Local storage / Wi-Fi / NAS sync

GT tactile sensing and data
Minimum detectable force	0.3 N
Normal force range	0-25 N
Tangential force range	+/-10 N
Tactile sampling	100 Hz
Safe overload	200% FS
Video bitrate	>=6 Mbps
Inertial output	Raw acceleration and gyroscope
Width measurement accuracy	1 mm
Multi-device timing residual	Mean <=5 ms

Width accuracy and gripper repeatability are separate metrics. Mean timing residual is not a maximum error bound and is distinct from Thor internal signal alignment.

GT hardware and package
Storage	128 GB MicroSD, write-verified before delivery
Display	0.96-inch monochrome OLED
Controls	3 navigation buttons + REC button
Power	Built-in battery; USB charging; operation while charging
Charging / continuous capture	Approx. 1 hour / 2 hours
Temperature	0-40 C
Weight	Approx. 600 g per hand unit
Standard GT set	2 devices, 2 verified 128 GB cards and 1 operating guide; guide language to be confirmed
Deployment	Video / IMU via USB; gripper data from the separate robot gripper system

GT-specific hardware, runtime and package contents do not automatically apply to GB.

Recording and synchronization
Setup	Configure Wi-Fi, login, NAS and task before a new recording; confirm left / right hand
Recording	Single-press REC to start; double-press to stop
Archive structure	Task / device / hand / time
Transfer	Wi-Fi and rsync to NAS; server, account and directory permissions required
Cleanup	Delete only successfully synchronized data by day; preserve complete episodes
Protected records	Unsynchronized, failed, recording and in-transfer data are not automatically deleted
Full storage	Pause capture if no eligible records can be cleared; sync and free space, then press REC or restart
Display status	Wi-Fi, SD, duration, task, hand, power, width, force and synchronization status

Do not remove the MicroSD card while recording or synchronizing. On transfer failure, retain connectivity for retry and check NAS permissions.

Delivery and validation

Agree on the complete configuration.

Specifications follow the September 2026 v1.1 documentation. GT-specific tactile, weight, runtime and packaging figures are listed separately. Final configuration and acceptance follow the confirmed version.

Choose GB or GT for the experiment; confirm the GT bimanual kit contents.
Verify NAS rsync service, permissions and task organization.
Check each video, IMU, width and tactile stream; retain calibration and alignment reports.
Evaluate tactile input against a fixed task baseline.

Start with your task.

Define the devices, data and evaluation your project needs.

UMI Gripper

Handheld manipulation demonstrations

Built around
your research.