ORCA Hand
The ORCA Hand is an open-source, reliable, anthropomorphic 17-DoF tendon-driven robotic hand with integrated tactile sensors, developed by the Soft Robotics Lab at ETH Zurich (arXiv 2504.04259). It has 16 finger degrees of freedom plus 1 wrist DoF, is largely 3D-printed, and the paper reports that it can be assembled by one person in under eight hours with an approximate material BOM of about $2k / less than 2,000 CHF. The public repositories provide official robot description files and a v2 motor/joint configuration, but a current itemized public checkout BOM was not found.
The ORCA Hand is an open-source, reliable, anthropomorphic 17-DoF tendon-driven robotic hand with integrated tactile sensors, developed by the Soft Robotics Lab at ETH Zurich (arXiv 2504.04259). It has 16 finger degrees of freedom plus 1 wrist DoF, is largely 3D-printed, and the paper reports that it can be assembled by one person in under eight hours with an approximate material BOM of about $2k / less than 2,000 CHF. The public repositories provide official robot description files and a v2 motor/joint configuration, but a current itemized public checkout BOM was not found.
What you get
- A standardized, machine-readable robot schema derived from the source repo.
- A primary assembly 3D asset is available from v2/models/urdf/orcahand_right.urdf.
- 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: orcahand/orcahand_description. Original files stay intact and separately licensed under MIT; Motari adds a separate, adjacent metadata layer.
Reproduction references
No reproduction references are available for this catalog page yet.