Auto-assembled, not yet reviewed

Aero Hand Open

Non-commercial source-available tendon-driven 5-finger hand, 7 DoF, upstream BOM about $316.

  • CC-BY-NC-SA-4.0NC
  • robot hand7 DoF
  • $316.48source total
Reproducibility70/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
Aero Hand Open 7-DoF robot hand, 3D render from aero_hand_open_right.urdf
main assembly 3D · aero_hand_open_right.urdf

About Aero Hand Open

Aero Hand Open is a non-commercial source-available, tendon-driven anthropomorphic robotic hand from Chestnut Robotics (formerly TetherIA) for dexterous manipulation research. It has 5 fingers with 7 actuated DoF (16 joints total), a fully 3D-printed structure, weighs about 389 g, and is driven by seven Feetech HLS3606M serial-bus servos with an onboard XIAO ESP32-S3 controller. The repo ships STEP CAD, one-click 3MF print files, silicone-pad molds, a source costed BOM, a KiCad PCB, ESP32 firmware binaries, plus a Python SDK and ROS 2 / MuJoCo integration.

Licenses

Hardware
CC-BY-NC-SA-4.0NC
Software
Apache-2.0
Docs
CC-BY-NC-SA-4.0NC

Degrees of freedom

7 DoF ring 1index 1pinky 1thumb 3middle 1

Breakdown source

Dexterous handTendon-drivensource

How to build Aero Hand Open

5 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions.

  1. Print the structural parts

    Use the provided one-click 3MF files on a Bambu X1C (0.4 mm nozzle, 0.2 mm layers, tree supports on build plate). Keep the recommended orientation for tolerances.

    Motari summarydocs.tetheria.ai/docs/assembly

  2. Cast the silicone pads

    Print the mold parts and cast the finger/palm pads in 00-30 silicone (or print the provided TPU alternative for slightly reduced grip).

    Motari summarydocs.tetheria.ai/docs/assembly

  3. Assemble the finger modules

    Press in bearings and dowel pins, fit the music-wire return springs, and route the Kevlar/Vectran tendons. Each finger module assembles independently before attaching to the palm.

    Motari summarydocs.tetheria.ai/docs/assembly

  4. Wire the electronics

    Mount the seven HLS3606M servos, daisy-chain them via the junction boards or the KiCad PCB, and connect the TTLinker board to the XIAO ESP32-S3. Power the servo rail from a regulated 6V supply with up to 10A, separate from USB 5V.

    Motari summarydocs.tetheria.ai/docs/assembly

  5. Flash firmware and run SDK

    Flash the prebuilt left/right .bin (or build firmware.ino with PlatformIO), then run the Python SDK example sequences over the configured serial port.

    Motari summarydocs.tetheria.ai/docs/assembly
Print timenot published
Assembly timenot published

Wiring, power and firmware are safety-relevant and shown for reference only. Check them against the source before building.

Aero Hand Open bill of materials

8 rows

Cost to build

$316.48USDsource total
  • one hand, all BOM.csv rows (printed parts, silicone, hardware, 7 servos, TTLinker, XIAO ESP32-S3); excludes 6V 10A supply and optional PCB$316.48source total

In the source currency, as read on 2026-09-30. Not converted, and not checked against current vendor prices: none of these is a Motari-verified checkout total.

Aero Hand Open parts, as the source lists them. Prices are the source's, not checked against vendors.

Aero Hand Open bill of materials
PartQtySpecSourceConfidence
Feetech HLS3606M servoserial bus servo, finger + thumb actuation
76V, ~6 kg-cm
Feetech / Alibaba link from the project$29.83 each, $208.81 totalSource BOM: hardware/Assembly/BOM.csv line 48
high
XIAO ESP32-S3 controlleronboard MCU running the hand firmware
1ESP32-S3, WiFi/BLE
Seeed Studio link from the project$7.99Source BOM: hardware/Assembly/BOM.csv line 54
high
TTLinker Mini UART boardUSB/UART to serial-bus signal conversion
1TTL serial conversion board
Feetech / Alibaba link from the project$1.58Source BOM: hardware/Assembly/BOM.csv line 53
high
3D-printed PLA parts and moldsfingers, palm, thumb, servo frame, and silicone molds
1PLA parts designed for Bambu X1C, 0.4 mm nozzle
3D print yourself$6.84Source BOM: hardware/Assembly/BOM.csv lines 3-20
high
Silicone finger/palm padscast from provided molds; TPU alternative noted by source
100-30/00-31/00-32/00-33 silicone pads
Amazon / Smooth-On link from the project$0.37Source BOM: hardware/Assembly/BOM.csv lines 21-24
high
Miniature ball bearings 2x5x2.5joint bearings
23MR52ZZ / 2x5x2.5 mm
Amazon link from the project; Misumi alternative$0.5216 each, $11.9968 totalSource BOM: hardware/Assembly/BOM.csv line 36
high
Pins, springs, screws, and inserts kitreturn springs, dowel pins, Torx screws, and heat-set inserts
1assorted hardware from purchased-components section
Spring Store / Century Spring / McMaster / Misumi$72.61Source BOM: hardware/Assembly/BOM.csv lines 27-29 and lines 37-47
high
Kevlar / Vectran tendon cablefinger pull, coupling, and thumb tendons
1Kevlar/Vectran line; source says hand is designed for Vectran
Amazon link from the project; Twinline alternative$6.29Source BOM: hardware/Assembly/BOM.csv lines 30-35
high

Rows from the source's own parts list 79

hardware/Assembly/BOM.csv@b27463ccsv

Source rowQtyPrice and vendorLine
Finger Base
4
vendor not listed0.024362813
L3
Finger MCP
4
vendor not listed0.015142425
L4
Finger Proximal
4
vendor not listed0.1443278
L5
Finger Medial
4
vendor not listed0.06606695
L6
Finger Distal
4
vendor not listed0.038655663
L7
Cable Spool
6
vendor not listed0.018365813
L8
Thumb Abduction Upper Servo Disk
1
vendor not listed0.019640175
L9
Thumb Abduction Lower Servo Disk
1
vendor not listed0.034132925
L10

45 more rows in hardware/Assembly/BOM.csv

hardware/PCB/Aero_hand_open_left/Aero-Hand-Open-Left-BOM.csv@b27463ccsv

Source rowQtyPrice and vendorLine
C1
1
jlcpcb.comno price listed
L2
C2,C3
2
jlcpcb.comno price listed
L3
D1
1
jlcpcb.comno price listed
L4
D2
1
jlcpcb.comno price listed
L5
F1
1
jlcpcb.comno price listed
L6
J1,J2,J3,J4,J5,J6,J7
7
jlcpcb.comno price listed
L7
J8
1
jlcpcb.comno price listed
L8
Q1
1
jlcpcb.comno price listed
L9

5 more rows in hardware/PCB/Aero_hand_open_left/Aero-Hand-Open-Left-BOM.csv

hardware/PCB/Aero_hand_open_right/Aero-Hand-Open-Right-BOM.csv@b27463ccsv

Source rowQtyPrice and vendorLine
C1
1
jlcpcb.comno price listed
L2
C2,C3
2
jlcpcb.comno price listed
L3
D1
1
jlcpcb.comno price listed
L4
D2
1
jlcpcb.comno price listed
L5
F1
1
jlcpcb.comno price listed
L6
J1,J2,J3,J4,J5,J6,J7
7
jlcpcb.comno price listed
L7
J8
1
jlcpcb.comno price listed
L8
Q1
1
jlcpcb.comno price listed
L9

5 more rows in hardware/PCB/Aero_hand_open_right/Aero-Hand-Open-Right-BOM.csv

Aero Hand Open source files

14 files

Files stay in the upstream repository under their own licenses; these links open them there. The 3D model on this page is Motari's conversion of the file named under Simulation.

Aero Hand Open in simulation

Robot description files a simulator or CAD tool can load, linked at the commit they were found.

The 3D specimen on this page is converted from ros2/src/aero_hand_open_description/urdf/aero_hand_open_right.urdf at b27463c.

Builds of Aero Hand Open

0 reviewed

No reviewed builds of Aero Hand Open yet.

A build log records the evidence (photos, a video, your repository), what the build cost, how long it took and what you changed. Each one is checked by Motari (until a maintainer claims this page) before it shows here, and reviewed builds count toward the reproducibility score.

Sources and provenance

Sources

Last push to Chestnut-Robotics/aero-hand-open: 2026-09-15 (checked 2026-10-01)

Related links

How this page was made

Assembled from public sources on 2026-06-04, not yet reviewed by the maintainer. Each figure links to where it is stated; a value the sources do not state reads "not published". Last source review: source BOM b27463c.

Original files stay intact and separately licensed; Motari adds only the summary on this page. Maintainer? Request a correction or removal.

Badge for the README

Maintain Aero Hand Open? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 70/100

Markdown
[![Motari reproducibility score for Aero Hand Open](https://motari.io/api/v1/badge/aero-hand-open)](https://motari.io/r/aero-hand-open)
HTML
<a href="https://motari.io/r/aero-hand-open"><img src="https://motari.io/api/v1/badge/aero-hand-open" alt="Motari reproducibility score for Aero Hand Open" height="20"></a>

Not fully met yet: bom evidence (partial), oshw-compatible license. The score is read from the project's own sources, so publishing what is missing is what raises it. A score of 90 or more needs a reviewed build. How the score is computed