Auto-assembled, not yet reviewed

DexHand V1.0

Fully 3D-printed tendon-driven humanoid hand and forearm, ~$300 in parts.

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

Last push to TheRobotStudio/V1.0-Dexhand: 2024-07-26 (GitHub, checked 2026-10-01).

Repository activity

  • CC-BY-NC-SA-4.0NC
  • robot hand19 DoF
  • cost not published
Reproducibility38/100Sparse source coverage, unverifiedCADBOMWIREFWBUILDLICREPHow it is computed
DexHand V1.0 source parts laid out side by side, 3D render from Back_of_Hand_23a.STL (not the assembled robot)
Parts preview: not the assembled robot · Back_of_Hand_23a.STL

About DexHand V1.0

DexHand V1.0 by The Robot Studio is a fully 3D-printable, tendon-driven anthropomorphic hand integrated with a self-contained forearm that houses the electronics and battery. The five fingers and thumb are driven by 16 slim Emax micro-servos, with additional servos for wrist flexion/extension and optional continuous axial rotation. The repo ships a complete set of STL parts (hand, wrist and forearm), Arduino Mega 2560 Pro firmware with SBUS and serial-servo drivers, a one-page electronics schematic PDF, and a public Onshape parasolid CAD model. The forearm operates as a stand-alone unit allowing unlimited axial rotation for tasks like scrubbing.

Licenses

Hardware
CC-BY-NC-SA-4.0NC
Software
Not published
Docs
Not published

Degrees of freedom

19 DoF

No per-group breakdown has been sourced yet.

Dexterous handTendon-drivenForearmsource

How to build DexHand V1.0

5 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. Print the forearm and hand

    Print all Forearm, Hand_06 and Wrist_10 STLs on any extrusion printer (designed for a 0.6 mm nozzle at 0.4 mm layers, tendon spools at 0.3 mm or finer). Tested in PLA, PETG and CF nylon (ABS not recommended for large parts); finish with fine sandpaper or an emery board.

    Motari summarygithub.com/TheRobotStudio/V1.0-Dexhand/blob/main/Dexhand_V1....

  2. Install the finger servos

    Fit the 16 slim Emax ES33xx micro-servos that drive the fingers and thumb. The hand needs 50 ball bearings (6x10x3) and 2 mm steel pins.

    Upstream stepgithub.com/TheRobotStudio/V1.0-Dexhand/blob/e88ebd74def7f30c...

  3. Fit the wrist servos

    Add the Feetech SCS2332 servos for wrist flexion/extension and the optional SCS15 for axial rotation, keeping within the listed envelopes.

    Upstream stepgithub.com/TheRobotStudio/V1.0-Dexhand/blob/e88ebd74def7f30c...

  4. Route tendons and ligaments

    Thread Sufix 832 line for finger tendons and the thicker 0.8 mm kiteline for ligaments and wrist tendons; anchor at the fingertip threaded inserts.

    Upstream stepgithub.com/TheRobotStudio/V1.0-Dexhand/blob/e88ebd74def7f30c...

  5. Wire and flash electronics

    Fit two 18650 cells (8.4 V max, through a 6 V dc-dc converter for the Emax servos) and a 16 mm latching push button switch in the forearm split. Wire the Emax servos to PWM pins on an Arduino Mega 2560 Pro and the optional Feetech wrist servos through a TTL linker, then flash Hand_12.ino.

    Motari summarygithub.com/TheRobotStudio/V1.0-Dexhand/blob/main/Dexhand_V1....
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.

DexHand V1.0 bill of materials

11 rows

Cost to build

The sources do not publish a cost total. The rows below are what they list, without a sum.

DexHand V1.0 parts, as the source lists them (read 2026-09-30). Prices are the source's, not checked against vendors.

DexHand V1.0 bill of materials
PartQtySpecSourceConfidence
Emax ES3352 micro-servoslim finger/thumb actuators (metal gear, digital)
1623.2x12.1x28.5 mm envelope
Emaxapprox $12 eachREADME.md lines 54-63
high
Feetech SCS2332 serial servowrist flexion/extension, larger powered range
2serial bus servo
Feetechapprox $35 each plus deliveryREADME.md lines 65-71
high
Feetech SCS15 serial servooptional axial wrist rotation
16V 15 kg, 40x20x40.5 mm envelope
Feetechprice not listedREADME.md lines 77-80
med
3D-printed parts sethand, wrist and forearm STLs (PLA/PETG/CF-nylon)
10.6 mm nozzle, 0.4 mm layers (spools finer)
3D print yourselfprice not listedREADME.md lines 13-40
med
Ball bearings 6x10x3finger joints (50 per hand)
506x10x3 mm
Amazonprice not listedREADME.md lines 102-103
high
Tendon line (Sufix 832, 80 lb)finger tendons + thicker 0.8 mm kiteline for ligaments/wrist
1braided fishing/kite line
Amazonprice not listedREADME.md lines 95-100
med
2 mm steel pins + M2 screws/inserts kitjoint pins, fasteners, M2x4 brass threaded inserts, M3x70 capheads
1assorted, see README
Amazon / McMasterprice not listedREADME.md lines 84-117
low
Wrist ball bearingsWrist bearings listed in the README
166x 2x6x3, 4x 15x21x4 and 6x 3x8x4 bearings
you source itprice not listedV1.0-Dexhand README
high
M3x70 12.9 cap head boltsListed in the README
2M3 x 70 mm, grade 12.9
you source itprice not listedV1.0-Dexhand README
high
18650 cellsBattery shown in the Dexhand_V1.0.pdf schematic, fed through a 6 V dc-dc converter for the Emax servos
2two 18650 cells, 8.4 V maximum
you source itprice not listedDexhand_V1.0.pdf schematic
high
Arduino Mega 2560 ProDrives the Emax servos by PWM; optional Feetech wrist servos through a TTL linker
1controller named in the schematic
you source itprice not listedDexhand_V1.0.pdf schematic
high

Rows from the source's own parts list 8

README.md@e88ebd7markdown

Source rowQtyPrice and vendorLine
additional hand components around $300 USD
vendor not listedaround $300 USD
L23
3D-printed parts set
1 set
self-printno price listed
L34
Emax slim micro-servos
16
EmaxES3352 approx $12
L54
Feetech SCS2332 serial servo
2
Feetecharound $35 each plus delivery
L65
Feetech SCS15 serial servo
1 optional
Feetechno price listed
L77
2 mm steel pins, M2 screws/washers, M2 brass inserts
Amazon / Visserie Fixationsno price listed
L84
tendon and ligament line
Amazonno price listed
L95
bearings and M3 caphead bolts
50 hand bearings; 2 M3 bolts; wrist bearings listed
Amazon / McMasterno price listed
L102

DexHand V1.0 source files

8 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.

DexHand V1.0 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 Hand_06/Back_of_Hand_23a.STL at e88ebd7, with the parts laid out side by side because the source has no assembly.

Builds of DexHand V1.0

0 reviewed

No reviewed builds of DexHand V1.0 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 TheRobotStudio/V1.0-Dexhand: 2024-07-26 (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 e88ebd7 source component list parsed.

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 DexHand V1.0? Show its reproducibility score in the project's README. The badge links back to this page and updates with the score.

Badge: reproducibility 38/100

Markdown
[![Motari reproducibility score for DexHand V1.0](https://motari.io/api/v1/badge/dexhand-v1)](https://motari.io/r/dexhand-v1)
HTML
<a href="https://motari.io/r/dexhand-v1"><img src="https://motari.io/api/v1/badge/dexhand-v1" alt="Motari reproducibility score for DexHand V1.0" height="20"></a>

Not fully met yet: cad / mesh present (partial), bom evidence (partial), wiring diagram, build instructions (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