LEAP Hand vs ORCA Hand vs RUKA Hand
Dexterous robot hands
LEAP Hand is a 16-DoF robot hand under the CC-BY-NC-4.0 hardware license (non-commercial), published at $1,771.74 (source total, regular v1 hand, parts page as of Aug 2023). ORCA Hand is an open-source 17-DoF robot hand under the CC-BY-4.0 hardware license, published at $2,431.19 (source total, ORCA v1 legacy Dynamixel BOM incl. 210 USD shipping; v1 is no longer produced). RUKA Hand is an 11-DoF robot hand with no identified hardware license, published at $519.94 (source total, one hand, XL330-M288-T version, without tools, BOM as of 2024-12-19). Reproducibility scores: ORCA Hand 73, LEAP Hand 63 and RUKA Hand 63 of 100. LEAP Hand publishes URDF; ORCA Hand publishes URDF and MJCF; RUKA Hand publishes MJCF and Onshape.
Drawn to scale
The robots side by side at their true relative size, as their source models are posed.
Side by side
Every figure is read from each robot's record, with its source; a cost keeps the currency the source states and its basis.
| Criterion | LEAP Handrobot hand | ORCA Handrobot hand | RUKA Handrobot hand |
|---|---|---|---|
| Published cost | $1,771.74source total, regular v1 hand, parts page as of Aug 2023source | $2,431.19source total, ORCA v1 legacy Dynamixel BOM incl. 210 USD shipping; v1 is no longer producedsource | $519.94source total, one hand, XL330-M288-T version, without tools, BOM as of 2024-12-19source |
| Degrees of freedom | 16fingers 16source | 17thumb 4, wrist 1, fingers 12source | 11ring 2, index 2, pinky 2, thumb 3, middle 2source |
| Type | Dexterous handDexterous hand | Dexterous handDexterous hand, Tendon-driven, Wrist | Dexterous handDexterous hand, Tendon-driven, Underactuated |
| Actuators in the BOM |
|
| |
| Boards in the BOM | None of the tracked parts in its BOM |
| None of the tracked parts in its BOM |
| Simulation models |
| ||
| Hardware license | CC-BY-NC-4.0Non-commercialsource | CC-BY-4.0Commercial use OKsource | No license stated for the printable partsUnknown or unclearsource |
| Lifecycle | ActiveSuperseded by LEAP Hand v2 / v2 Advancedsource | Activesource | Activesource |
| Reproducibility | 63/100Partial source coverage, unverified | 73/100Partial source coverage, unverified | 63/100Partial source coverage, unverified |
| CAD / mesh present | met20/20 | met20/20 | met20/20 |
| BOM evidence | partial10/20 | partial10/20 | partial10/20 |
| Wiring diagram | partial7.5/15 | partial7.5/15 | partial7.5/15 |
| Firmware linked | met10/10 | met10/10 | met10/10 |
| Build instructions | met15/15 | met15/15 | met15/15 |
| OSHW-compatible license | missing0/10 | met10/10 | missing0/10 |
| Known reproductions | missing0/10 | missing0/10 | missing0/10 |
| Build time |
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| |
| Model size | 232 × 63 × 240 mmwidth × height × depth, as modelled | 120 × 169 × 301 mmwidth × height × depth, as modelled | 180 × 217 × 81 mmwidth × height × depth, as modelled |
| Source | leap-hand/LEAP_Hand_API | orcahand/orcahand_description | ruka-hand/RUKA |