About OpenHand

The Yale OpenHand Project is an initiative to advance the design and use of robotic hands designed and built through rapid-prototyping techniques in order to encourage more variation and innovation in mechanical hardware.

Commercially available robotic hands are often expensive, customized for specific platforms, and difficult to modify. It is typically impractical to experiment with alternate end effector designs. This results in researchers needing to compensate in software for intrinsic and pervasive mechanical disadvantages, rather than allowing software and hardware research in manipulation to co-evolve.

This project intends to establish a series of open-source hand designs, and through the contributions of the open-source user community, result in a large number of useful design modifications and variations available to researchers.

R. R. Ma, L. U. Odhner, A. M. Dollar

"Yale OpenHand Project: Optimizing Open-Source Hand Designs for Ease of Fabrication and Adoption," IEEE Robotics & Automation Magazine, vol. 24(1), pp. 32-40, 2017

R. R. Ma, L. U. Odhner, A. M. Dollar

"A Modular, Open-Source 3D Printed Underactuated Hand," Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, May 6-10, 2013.