Flexiv (非夕科技) Force-Controlled Adaptive Robots & Grippers: Rizon 4, Rizon 4s, Rizon 10, Enlight L, Moonlight, Grav & MICO Series

Supply complete 7-axis and parallel force-controlled adaptive robots, Grav / Grav Enhanced grippers, Hesper / Orion controllers, and genuine spare parts from Flexiv (Shanghai Flexiv Robotics Technology Co., Ltd. / 非夕科技): Rizon 4, Rizon 4s, Rizon 10, Enlight L, Moonlight, MICO, and AICO-2 series.

Flexiv Rizon 4 & Rizon 4s (Rizon 4 + F/T Sensor) 7-Axis Force-Controlled Adaptive Robots (4 kg Payload)

Inspired by the dexterity of a human arm, Flexiv's Rizon 4 and Rizon 4s 7-degree-of-freedom adaptive manipulators fuse direct joint-level force control across all 7 axes with industrial AI.

Unlike conventional position-controlled cobots, Rizon 4 robots tolerate workpiece position errors and external disturbances in real time.

The standard Rizon 4 delivers 0.1 N force sensing accuracy with an 876 mm reach, while the high-precision Rizon 4s (Rizon 4 + F/T Sensor) integrates a flange force-torque sensor to achieve 0.03 N sensitivity for flexible printed circuit (FPC) insertion, server assembly, and delicate polishing.

Rizon 4 model: 7 degrees of freedom (7 DoF), 4 kg payload, 20 kg arm weight, 876 mm reach, 0.1 N force sensing accuracy, and up to 200 N maximum TCP force
High-precision Rizon 4s (Rizon 4 + F/T Sensor): 7 axes, 4 kg payload, 21 kg weight, 919 mm reach, 0.03 N force sensing resolution, and 150 N maximum TCP force
Pose repeatability of ±0.05 mm (ISO 9283), typical TCP linear speed of 1.0 m/s, acoustic noise below 70 dB, and any-angle installation orientation
IP65 environmental protection, 0 to +45 °C operating temperature (20–80% non-condensing humidity), ISO 9409-1-50-4-M6 mounting flange, and CE & ETL safety certifications

Flexiv Rizon 10 & Rizon 10 + F/T Sensor High-Payload 7-Axis Adaptive Robots (10 kg Payload, 350 N Force)

Winner of the 2022 Red Dot Best of the Best award, the Flexiv Rizon 10 series is built for heavy contact-rich industrial tasks demanding a 10 kg payload, up to 984 mm reach, and up to 350 N maximum TCP force.

Rizon 10 and Rizon 10 + F/T Sensor manipulators are widely deployed in automotive manufacturing—including automated vehicle wheel alignment with a 70–75 s takt time and >99.5% success rate, weld seam grinding, windshield adhesive primer application, and EV seat ironing—as well as heavy deburring and

sanding.

Rizon 10 model: 7 degrees of freedom, 10 kg rated payload, 38 kg manipulator mass, 941 mm working radius, 0.2 N force sensing accuracy, and 350 N max TCP force
Rizon 10 + F/T Sensor model: 7 axes, 10 kg payload, 39 kg mass, extended 984 mm reach, 0.2 N force sensing accuracy, and 350 N maximum TCP force
Pose repeatability of ±0.05 mm (ISO 9283), 1.0 m/s typical TCP linear speed, and hybrid force-position control that absorbs chassis and fixture variations
IP65 ingress protection for dusty grinding and machining cells, ISO 9409-1-50-4-M6 tool flange, and unrestricted mounting orientation (floor, ceiling, wall, or gantry)

Flexiv Enlight L Next-Generation Whole-Body Force-Sensitive 7-Axis Adaptive Robot (5 kg Payload, 15 kg Weight)

Introduced in March 2026, the Flexiv Enlight L adaptive robot combines an optimized payload-to-weight ratio (5 kg payload at just 15 kg arm mass) with whole-body touch sensitivity via multi-dimensional force sensors in all 7 joints and 720° rotation capability across four axes.

Paired with the dual-layer AEGIS intrinsic safety architecture compliant with IEC 61508 SIL 2 and ISO 10218-1:2025, Enlight L delivers safe barrier-free human-robot interaction alongside a 400 N controllable force range.

Enlight L kinematics: 7 degrees of freedom, 5 kg payload with a lightweight 15 kg body, 752 mm reach, and unmatched 720° rotation range on four joints
Whole-body perception network: 0.1 N force sensing accuracy, up to 400 N maximum controllable force range, and ±0.05 mm pose repeatability (ISO 9283)
AEGIS dual-layer safety system with distributed safety hardware, configurable safety interfaces, and full compliance with IEC 61508 SIL 2 and ISO 10218-1:2025
1.0 m/s typical TCP speed, <70 dBA noise, IP65 protection rating, 0–45 °C operating temperature, ISO 9409-1-50-4-M6 flange, and multi-arm coordination via the Orion control hub

Flexiv Moonlight Series — The World's First Force-Controlled Parallel Robot (3 DoF, Ø1200×400 mm Workspace)

Flexiv Moonlight fuses a closed-loop parallel kinematic structure (3 degrees of freedom) with industrial-grade force sensing, force control, and active vibration rejection.

Combining structural stiffness with a hollow ISO 9409-1-50-4-M6 mounting flange, Moonlight achieves a 1.5 m/s TCP linear speed and 15 m/s² acceleration while maintaining ±0.05 mm repeatability.

It is engineered for in-line conveyor processing, deburring, diverse polishing, bolt tightening, adaptive machine loading/unloading, and flexible agricultural transplanting.

Parallel kinematic architecture: 3 degrees of freedom (3 DoF), 38 kg robot mass, compact Ø206 mm base diameter, and horizontal or vertical mounting at any angle
Working envelope: 1200 mm maximum working diameter, 400 mm maximum working height, and ±0.05 mm pose repeatability (ISO 9283)
High dynamics & stiffness: 1.5 m/s typical TCP linear speed, 15 m/s² acceleration, and superior vibration rejection during deburring and polishing
Hollow ISO 9409-1-50-4-M6 flange for end-effector and vision routing, IP65 rating (0–45 °C), CE & ETL certifications, and full Hesper controller compatibility

Flexiv Grav (IP67) & Gecko-Inspired Grav Enhanced Force-Controlled Adaptive Robotic Grippers

Flexiv Grav series 2-finger servo grippers integrate directly into the robot arm flange on a Plug-and-Play basis, delivering 1 N force control accuracy (0.5 N minimum sensitivity threshold) and 1–200 mm/s closing speed.

The Grav Enhanced variant incorporates gecko-inspired bio-adhesive super-friction contact belts, allowing instant switching between rigid pinching (P-mode) and full-surface dry adhesion grasping (V-mode) to handle spherical, smooth, or irregular objects up to 5 kg with zero surface residue or

mechanical deformation.

Standard Grav gripper: 2-finger force-controlled clamping, 0–100 mm stroke, 102×192×84 mm dimensions, 0.9 kg weight, 1–100 N gripping force, IP67 water-immersion rating, -20 to +45 °C
Grav Enhanced gripper: dual clamping mode (P-mode 0–100 mm / V-mode 120°–160°), 102×225×84 mm, 1.3 kg weight, 1–45 N force, gecko dry adhesion for objects up to 5 kg, IP65 (+20 to +45 °C)
1 N force control accuracy (0.5 N sensitivity), 0.1 mm finger position repeatability, 1–200 mm/s speed, tens of millions of cycles lifespan, and ISO/TS 15066 safety compliance
Internal communication via the robot arm, ISO 9409-1-50-4-M6 mechanical interface, and optional automated self-cleaning station to remove dust from adhesive pads

Flexiv Hesper Robot Controllers, Orion Multi-Arm Control Hubs (RCM / PSM) & NOEMA Edge AI Systems

Real-time motion and force control at 1 kHz across Flexiv adaptive robots is powered by dedicated industrial computing units. Single-arm Rizon and Moonlight cells utilize the compact 500 W Hesper controller supporting Profinet and Modbus TCP/IP fieldbuses.

Next-generation Enlight and dual-arm cells deploy the modular IEC 61508 SIL 2 Orion control hub architecture—capable of coordinating multiple manipulators simultaneously via lightweight RCM control modules and PSM power supply modules—while vision and embodied AI workloads run on the NOEMA Edge

Controller.

Hesper controller (for Rizon & Moonlight): 12 kg weight, 423×230×230 mm dimensions, 500 W power consumption, IP20 rating, 16 DI / 16 DO ports, and Profinet / Modbus TCP/IP interfaces
Orion multi-robot control hub: 10.5 kg weight, 345×330×132 mm dimensions, 100–240 VAC 50–60 Hz input, 250 W (single-arm) / 450 W (dual-arm) typical load, 16 DI/DO & 2 AI/AO
RCM robot control module (3.5 kg, 215×200×115 mm, 48 VDC input, 16 DI/DO, 2 AI/AO) and PSM power supply module (3.5 kg, 317×128×158 mm, 100–240 VAC to 48 V / 0–40 A output)
Auxiliary 24 V / 2 A (control box) and 24 V / 1.5 A (end-of-arm tool) power outputs, IEC 61508 SIL 2 safety compliance, and seamless pairing with the NOEMA Edge AI controller

Flexiv MICO (Core / Ultra) & AICO-2 Dual-Arm Mobile Platforms, Teleoperation Kits & Peripherals

Built upon Rizon and Enlight 7-axis adaptive arms, Flexiv manufactures integrated dual-arm and mobile robotic platforms for complex bimanual assembly, intralogistics, and physical AI deployment.

The compact MICO Core dual-arm system executes fine force-guided assembly such as installing GPUs into high-density server racks, while MICO Ultra adds an inbuilt AMR mobile base and vision head, and the industrial AICO-2 dual-arm AMR platform handles multi-station tending.

MICO modular dual-arm platform (released March 2026): industry-focused MICO Core built on Enlight arms and mobile MICO Ultra with integrated AMR and computer vision head
AICO-2 industrial dual-arm mobile robot platform on an AMR base and the SuuHuu automated force-feedback robotic therapy workstation
Dual-unit Rizon 4 Teleoperation Development Kit providing ultra-low-latency bi-directional force feedback, tremor smoothing, and contact force limits for R&D and hazardous environments
Genuine peripherals: Teach Pendant, wrist-mounted Motion Bar (mode switching, task initiation, emergency stop), digital camera modules, external axes, and mobile workbenches

Flexiv Elements Series 3 OS, Flexiv RDK (1 kHz Real-Time SDK) & Genuine Maintenance Spare Parts

Flexiv's software stack combines the no-code Flexiv Elements Series 3 operating system with the low-level Flexiv RDK (Robotic Development Kit).

Elements enables drag-and-drop workflow creation using force-controlled primitives (Contact, MoveL, MoveC, Polish), 3D trajectory editing, Freedrive hand-guiding with axis locking, and Wi-Fi offline/online deployment.

Flexiv RDK provides C++ and Python APIs with 1 kHz real-time (RT) sensor acquisition and actuator control across Linux, Windows, and macOS, alongside ROS 1/2 packages and official NVIDIA Isaac Lab / Isaac ROS workflows.

Flexiv Elements Series 3: drag-and-drop graphical programming via adaptive primitives (Contact, MoveL, MoveC, Polish), 3D Trajectory Editor, visual data replay, and Wi-Fi connectivity
Flexiv RDK toolkit: 1 kHz real-time (RT) and high-level (NRT) C++/Python APIs for Linux, Windows, and macOS, ROS 1 & ROS 2 drivers, and NVIDIA Isaac Lab / Isaac ROS integration
Genuine replacement assemblies: 6-axis flange F/T sensors (0.03–0.2 N), J1–J7 joint actuator modules with integrated torque sensors, and Hesper / Orion / RCM / PSM controller units
Wear & maintenance spares: replacement gecko-adhesive belts and fingers for Grav / Grav Enhanced grippers, Pipeline Package conduits, Teach Pendants, Motion Bars, and IP65/IP67 seal kits

Identifying Flexiv (非夕科技) Adaptive Robots and Joint Modules by Nameplate Codes

Founded in June 2016 in Santa Clara, California by robotics researchers from the Robotics and AI Lab at Stanford University, Flexiv (非夕科技 / Shanghai Flexiv Robotics Technology Co., Ltd.) operates 7 R&D and business offices across Silicon Valley (San Jose), Shanghai (Minhang District, No.

588 Zixing Rd), Beijing, Shenzhen, Singapore, and Munich, backed by two wholly owned serial manufacturing factories in Foshan (Shishan Town) and Zhongshan (Fuji Cloud Valley), Guangdong.

Flexiv robot model designations specify the kinematic family, rated payload in kilograms, and force-torque sensing tier: Rizon 4 (7 DoF, 4 kg payload, 876 mm reach, 0.1 N force accuracy), Rizon 4s / Rizon 4 + F/T Sensor (4 kg, 919 mm reach, 0.03 N force accuracy), Rizon 10 and Rizon 10 + F/T Sensor

(10 kg, 941–984 mm reach, 0.2 N accuracy, up to 350 N TCP force), Enlight L (7 DoF, 5 kg payload, 15 kg weight, 752 mm reach, 720° rotation on 4 joints), and the Moonlight parallel robot (3 DoF, Ø1200×400 mm workspace).

To select the exact replacement joint actuator module, flange F/T sensor, Grav gripper, or controller board, provide a photo of the manipulator and controller (Hesper or Orion) nameplates showing the model code, serial number, and axis number (J1–J7).

Selecting 7-Axis and Parallel Adaptive Robots: Rizon 4/4s, Rizon 10, Enlight L, and Moonlight

For high-precision 3C electronics assembly, flexible printed circuit (FPC) board insertion, RAM installation, and server assembly, Flexiv offers 7-axis Rizon 4 (4 kg, 876 mm) and Rizon 4s (919 mm) manipulators featuring 0.03 N force sensing resolution and 1 kHz real-time data logging.

Hybrid force-position control absorbs gripping and part tolerances for near-zero scrap.

For demanding automotive and metalworking tasks—such as automated vehicle wheel alignment with a 70–75 s takt time, weld grinding, windshield primer application, and EV seating ironing—the Rizon 10 series delivers a 10 kg payload, up to 984 mm reach, 350 N TCP force, and IP65 protection.

Applications requiring lightweight barrier-free collaboration or bimanual manipulation deploy the Enlight L arm (5 kg payload at 15 kg mass, 400 N force range, AEGIS IEC 61508 SIL 2 safety) and the MICO Core / MICO Ultra and AICO-2 dual-arm platforms.

In high-speed conveyor processing, deburring, polishing, bolt tightening, and delicate food handling (such as automated fish fillet shaping at 16000 fillets/day), the Moonlight 3-DoF force-controlled parallel robot provides a Ø1200×400 mm workspace, 1.5 m/s TCP speed, 15 m/s² acceleration, and ±0.05

mm repeatability.

Grav / Grav Enhanced Force Grippers, Hesper Controllers, and Orion Multi-Arm Control Hubs

End-of-arm tooling across Flexiv cells centers on the Plug-and-Play Grav series 2-finger servo grippers featuring a 0–100 mm stroke, 1 N force control accuracy (0.5 N sensitivity threshold), and 1–200 mm/s closing speed.

The standard Grav gripper (0.9 kg, 1–100 N force) is sealed to IP67 (-20 to +45 °C), while Grav Enhanced (1.3 kg, IP65) uses gecko-inspired bio-adhesive super-friction belts with instant P-mode and V-mode (120°–160°) switching to grasp spherical and smooth objects up to 5 kg.

Single-arm Rizon and Moonlight workstations are driven by the compact Hesper industrial robot controller (12 kg mass, 423×230×230 mm, 500 W power consumption, IP20 rating, 16 DI / 16 DO ports, Profinet and Modbus TCP/IP).

Enlight L and multi-arm cells utilize the modular Orion control hub (10.5 kg, 345×330×132 mm, 250 W single-arm / 450 W dual-arm load, IEC 61508 SIL 2 safety) paired with RCM robot control modules (3.5 kg, 48 VDC, 16 DI/DO, 2 AI/AO) and PSM power supply modules (3.5 kg, 48 V / 0–40 A), alongside the

NOEMA Edge AI controller.

Maintaining J1–J7 Force-Controlled Joints, Replacing F/T Sensors, and Servicing Grav Grippers

Every joint across Flexiv Rizon and Enlight manipulators integrates a proprietary multi-dimensional torque/force sensor, harmonic drive reducer, frameless servo motor, and absolute encoder.

Following collision overloads or long-term wear, individual joint actuator assemblies (axes J1–J7) or 6-axis wrist F/T sensors are replaced as calibrated modular units.

For Grav and Grav Enhanced grippers, we supply replacement fingers, gecko-inspired dry-adhesion belt kits, and automated self-cleaning stations that remove shop-floor dust to maintain peak adhesion.

We also supply genuine Teach Pendants running Flexiv Elements Series 3, wrist-mounted Motion Bars, digital camera modules, external Pipeline Package cable conduits, and IP65/IP67 sealing kits.

International Supply of Complete Flexiv Adaptive Robots and Genuine Spare Parts

SpareX organizes direct international supply of Flexiv adaptive robots (Rizon 4, Rizon 4s, Rizon 10, Enlight L, Moonlight, MICO, AICO-2), Grav / Grav Enhanced grippers, Hesper and Orion controllers, and genuine spare parts from Shanghai Flexiv Robotics (China) for automotive, electronics,

industrial, and research facilities worldwide.

Our engineering team assists with selecting robot models for target cycle times and force tolerances, verifying J1–J7 joint module part numbers from nameplate data, and configuring complete turnkey cells.

We fulfill orders ranging from a single F/T sensor, Grav gripper, or Teach Pendant to complete multi-arm robotic systems with international air, rail, and sea logistics.

System configurations, factory lead times, and export pricing for Flexiv (Shanghai Flexiv Robotics) adaptive robots, Grav grippers, Hesper/Orion controllers, and spare parts are calculated individually upon technical inquiry; public retail price lists are not published.

We operate as an independent international industrial supplier and are not an exclusive distributor of the manufacturer.