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.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A limited/simplified source 3D asset is available from An Open-Source Mechanical Design of ALARIS Hand A 6-DOF Anthropomorphic Robotic Hand/MATH_CALC/stl/Hand_base.STL.
• Source-backed bill-of-materials evidence is linked with per-part provenance where available. Prices marked estimated are not yet verified against a vendor.
• A transparent reproducibility score so buildability is a sortable, first-class property.
• Cross-links to the source repo, datasets, models, and forks.

Source

Canonical source: alarisnu/alaris_hand. Original files stay intact and separately licensed under GPL-3.0; Motari adds a separate, adjacent metadata layer.