Yale OpenHand Project

The Yale OpenHand Project is an open-source initiative from the Yale GRAB Lab (Raymond Ma, Lael Odhner, Aaron Dollar) to advance rapid-prototyped, underactuated robot hands. This repository holds the mechanical CAD (SolidWorks SLDPRT plus STL meshes) for a family of designs: the single-actuator four-finger Model T, the two-actuator Model T42, the modular Model M2, the variable-friction Model VF, the four-actuator anthropomorphic Model O, the finger-gaiting Model Q, the Stewart hand, and others. The hands use Dynamixel servos and tendon-driven flexure joints made with hybrid deposition manufacturing and Smooth-On urethane. The pinned Model F3 assembly guide includes an unpriced Model F3-specific BOM with XM430 actuators, Spectra tendon, Smooth-On urethanes, McMaster fasteners/bearings/pins, a C920x webcam, and printed STL parts. Assembly instructions and ROS control code live on the project website; the CAD here is released under a non-commercial CC BY-NC 3.0 license.

What you get

• A standardized, machine-readable robot schema derived from the source repo.
• A limited/simplified source 3D asset is available from model f3 (forces-for-free hand)/stl/a1_part1.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: grablab/openhand-hardware. Original files stay intact and separately licensed under CC-BY-NC-3.0; Motari adds a separate, adjacent metadata layer.