Auto-assembled, not yet reviewed

ALARIS Hand

Open-source 6-DOF anthropomorphic robot hand, SolidWorks mechanical design.

Dormant. No upstream changes for two years or more. It may still build, but parts, firmware and docs may have drifted.

Last push to alarisnu/alaris_hand: 2021-04-05 (GitHub, checked 2026-10-01).

Repository activity

Reproducibility50/100Early source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
ALARIS Hand source parts laid out side by side, 3D render from Hand_base.STL (not the assembled robot)
Parts preview: not the assembled robot ยท Hand_base.STL

About ALARIS Hand

ALARIS is an open-source 6-DOF anthropomorphic robotic hand released as a mechanical design study. It uses linkage-driven three-phalange fingers and a two-phalange adaptive thumb actuated by six DC brushed gearmotor actuators through non-backdrivable worm-and-rack transmissions. The repository publishes the full SolidWorks part and assembly files (SLDPRT/SLDASM) plus partial STL exports for selected worm/link/finger parts, while the linked ICRA 2021 paper publishes a costed prototype BOM totaling 478 USD for the hand manufacturing estimate without embedded systems. The release still does not include firmware, a complete embedded-control design, or step-by-step build instructions, so it remains a CAD-complete research-grade design rather than a turnkey kit.

Licenses

Hardware
GPL-3.0
Software
Not published
Docs
Not published

Degrees of freedom

6 DoF thumb 2fingers 4

Breakdown source

Anthropomorphic handLinkage-drivensource

How to build ALARIS Hand

4 steps

Steps marked Motari summary condense the linked source; follow the source for exact instructions. Upstream step marks a step taken from the linked guide.

  1. Open the SolidWorks CAD

    Open Hand_final_version.SLDASM in SolidWorks to review the full 6-DOF hand assembly and individual SLDPRT parts.

    Motari summaryalaris.kz/research/robot-hand

  2. Export and fabricate parts

    Print the parts in PLA, as done for the paper prototype, using the STL folder or STL exported from the SolidWorks part files; the repo does not ship a complete printable set. Parts are joined with 2.5 mm bolts and nuts.

    Motari summaryalaris.kz/research/robot-hand

  3. Source the actuators

    Obtain six DC brushed gearmotor actuators; the paper specifies a 1:100 motor gearbox, while exact vendor SKUs are not given.

    Upstream stepalaris.kz/wp-content/uploads/2021/06/Nurpeissova_IEEE_ICRA20...

  4. Assemble (no guide)

    No step-by-step assembly instructions are provided; assembly must be inferred from the CAD model and the design paper.

    Motari summaryalaris.kz/research/robot-hand
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.

ALARIS Hand bill of materials

19 rows

Cost to build

$478USDsource total
  • prototype manufacturing estimate per paper Table II, excluding embedded systems$478source 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.

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

ALARIS Hand bill of materials
PartQtySpecSourceConfidence
Position sensorFeedback sensor for built-in finger/thumb position control.
6Paper's parts table: Position sensor
vendor not named36 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
DC brushed gearmotor actuatorSix hand actuators; Table I describes DC brushed motor actuation with an integrated gearbox.
6DC brushed motor; paper Table I lists 1:100 gearbox
vendor not named101 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
3D-printed basePrinted hand base.
13D printed
3D print yourself12 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
3D-printed palmFront/back palm frame parts.
23D printed
3D print yourself23 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Distal interphalangeal joint partFinger DIP printed parts.
43D printed
3D print yourself22 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Proximal interphalangeal joint partFinger PIP printed parts.
43D printed
3D print yourself28 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Metacarpophalangeal joint partFinger MCP printed parts.
43D printed
3D print yourself35 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Thumb distal phalangeThumb DP printed part.
13D printed
3D print yourself11 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Thumb proximal phalangeThumb PP printed part.
13D printed
3D print yourself13 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Finger link3D-printed linkage parts.
123D printed
3D print yourself27 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Thumb link3D-printed thumb linkage part.
13D printed
3D print yourself9 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Finger base3D-printed finger base parts.
43D printed
3D print yourself24 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
BearingBearing hardware for finger/thumb mechanisms.
7Paper's parts table: Bearing
vendor not named17 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
RackRack elements for worm-and-rack transmission.
53D printed
3D print yourself14 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Worm gearWorm gear elements for non-backdrivable transmission.
53D printed
3D print yourself32 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
SpringSpring hardware for thumb/finger mechanism compliance.
9Paper's parts table: Spring
vendor not named23 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Helical gearThumb axial-rotation gear element.
13D printed
3D print yourself11 USD (paper's parts table)ICRA 2021 paper Table II, page 4
high
Screws and boltsPaper gives an approximate fastener quantity; prototype text mentions 2.5 mm bolts and nuts for printed parts.
55Approximately 55 screws/bolts; 2.5 mm bolts and nuts mentioned in paper text
vendor not named21 USD (paper's parts table)ICRA 2021 paper Table II, page 4
med
Wires and connectorsPaper gives approximate wire/connectors length.
2Approximately 2 m
vendor not named19 USD (paper's parts table)ICRA 2021 paper Table II, page 4
med

Rows from the source's own parts list 4

README.md@251db03markdown

Source rowQtyPrice and vendorLine
ALARIS CAD scope and mechanical architecture
6-DOF hand architecture described in README
ALARIS Hand READMEno price listed
L6

ALARIS robot hand project pagehtml

Source rowQtyPrice and vendorLine
Project page linking public source and paper
github.comalaris.kzno price listed
L1

Nurpeissova_IEEE_ICRA2021.pdfpdf

Source rowQtyPrice and vendorLine
ALARIS paper BOM and specifications tables
Table II lists source quantities for 19 rows; screws/bolts and wires/connectors are approximate.
alaris.kz$478 table total
L320
ALARIS prototype manufacturing cost caveat and electronics scope
2.5 mm bolts/nuts and external electronics described; embedded system not fully specified
alaris.kzaround 480 USD without embedded systems
L462

ALARIS Hand source files

9 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.

ALARIS Hand in simulation

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

No URDF, MJCF, SDF, USD or Onshape model has been found in the sources.

The 3D specimen on this page is converted from An Open-Source Mechanical Design of ALARIS Hand A 6-DOF Anthropomorphic Robotic Hand/MATH_CALC/stl/Hand_base.STL at 251db03, with the parts laid out side by side because the source has no assembly.

Builds of ALARIS Hand

0 reviewed

No reviewed builds of ALARIS Hand 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 alarisnu/alaris_hand: 2021-04-05 (checked 2026-10-01)

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-reviewed 2026-06-08.

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

Badge: reproducibility 50/100

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

Not fully met yet: wiring diagram, firmware linked, build instructions. 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