Auto-assembled, not yet reviewed

Amazing Hand

Fully 3D-printed 8-DoF, 4-finger hand with all servos inside, <200 EUR.

A newer version of this design exists.

Successor: Amazing Hand Enhanced (Feetech STS3032 servos, branch Amazing-Hand-Enhanced) (source)

Reproducibility70/100Partial source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
Amazing Hand open-source 8-DoF robot hand, 3D render from robot.xml
main assembly 3D · robot.xml

About Amazing Hand

Amazing Hand by Pollen Robotics is an open-source, 3D-printable anthropomorphic right/left hand design with four fingers and eight internal Feetech SCS0009 servos. The repository provides STL/STEP CAD, Onshape access, MuJoCo hand assemblies, assembly and printing PDFs, Arduino/Python demo code, and a Google Sheets BOM that totals 128.28 EUR per hand with the Waveshare driver. The mechanical design is CC BY 4.0 and the software Apache-2.0. The README points builders to an enhanced variant (Amazing Hand Enhanced branch) that uses Feetech STS3032 servos.

Licenses

Hardware
CC-BY-4.0
Software
Apache-2.0
Docs
Not published

Degrees of freedom

8 DoF fingers_4x2 8

Breakdown source

Dexterous handFour fingerParallel mechanism fingerssource

How to build Amazing Hand

5 steps

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

  1. Print the parts

    Print the hand parts and flexible shells from the cad/ STLs following the 3D-printing tips PDF. R/L hands share finger parts; right-specific parts are prefixed R, left parts L.

    Motari summarygithub.com/pollen-robotics/AmazingHand/blob/main/docs/Amazin...

  2. Assemble the fingers

    Build each parallel-mechanism finger with two SCS0009 servos, ball-joint rods, bushings and pins per the assembly PDF (guide is for a standalone right hand).

    Motari summarygithub.com/pollen-robotics/AmazingHand/blob/main/docs/Amazin...

  3. Set servo IDs

    Assign each servo a unique ID, keeping the same assembly order. For dual right+left hands on one bus, use distinct IDs and select hand side in software.

    Motari summarygithub.com/pollen-robotics/AmazingHand/blob/main/docs/Amazin...

  4. Wire control and power

    Connect via a Waveshare serial-bus driver (Python) or Arduino + Feetech TTL Linker, and add a 5V external supply for the eight internal servos.

    Motari summarygithub.com/pollen-robotics/AmazingHand/blob/main/docs/Amazin...

  5. Calibrate and run demo

    Run the per-finger calibration script, then the Amazing_Hand_Demo in Python or Arduino. MuJoCo simulation and IK examples are in the Demo directory.

    Motari summarygithub.com/pollen-robotics/AmazingHand/blob/main/docs/Amazin...
Print timenot published
Assembly time6 h

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

Amazing Hand bill of materials

6 rows

Cost to build

€128.28EURsource total
  • one hand with the Waveshare serial bus driver, incl. 15 EUR printed parts; excludes the 5V supply€128.28source total
  • one hand, Arduino path; excludes the 5V supply€142.29source 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.

Amazing Hand parts, as the source lists them (read 2026-06-06). Prices are the source's, not checked against vendors.

Amazing Hand bill of materials
PartQtySpecSourceConfidence
Feetech SCS0009 servotwo small serial-bus servos per finger
8serial-bus micro servo for four-finger hand
Feetechsee the project's BOM sheetREADME lines 39-47 plus linked BOM sheet
high
3D-printed hand parts setright/left CAD parts, shells, palm, wrist interface and finger parts
1STL/STEP and Onshape CAD provided
3D print yourselfprice not listedREADME lines 92-100 and cad/ source tree
high
Serial bus driver or Feetech TTL Linkertwo documented control options
1Waveshare-style serial bus driver for Python path or Feetech TTL Linker for Arduino path
Waveshare / Feetechsee the project's BOM sheetREADME lines 45-47
med
Ball-joint rods and linkage hardwarerod, rotule, pin, washer and linkage geometry in MJCF assets
1M2 rods, ball joints, pins, bushings, washers and screws
generic / self-sourcesee the project's BOM sheetMuJoCo asset manifest and README-linked BOM sheet
med
Assembly and 3D-printing documentationbuild guide and printing tips
1AmazingHand_Assembly.pdf and AmazingHand_3DprintingTips.pdf
Pollen Robotics docsincludedREADME lines 106-117 and docs/ files
high
5V external power supplyrequired to power the eight internal actuators
1example 220V to 5V / 2A jack adapter
genericsee the project's BOM sheetREADME lines 124-130
med

Rows from the source's own parts list 3

README.md@3e82410markdown

Source rowQtyPrice and vendorLine
Amazing Hand cost and servo source claim
Feetech SCS0009<200 EUR
L31
AmazingHand BOM and 3D printed parts sheets
docs.google.comno price listed
L73
5V external power supply requirement
1
docs.google.comno price listed
L124

Amazing Hand 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.

Amazing Hand 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 Demo/AHSimulation/AHSimulation/AH_Right/mjcf/robot.xml at 3e82410.

Builds of Amazing Hand

0 reviewed

No reviewed builds of Amazing 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 pollen-robotics/AmazingHand: 2026-04-23 (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: README source claim; BOM not vendor-costed.

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

Not fully met yet: cad / mesh present (partial), bom evidence (partial). 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