Carnegie Mellon University · Robotic hands and grippers
LEAP Hand
An open-source, multi-fingered robotic hand for advanced research and development
Overview
This four-fingered robotic hand, developed at Carnegie Mellon University, offers 16 directly actuated joints for high dexterity. It is a research platform, designed to attach to various robot arms and can be controlled using ROS, Python, or C++. The hand weighs 595 grams.
Specifications
- Deployment Stage
- Research platform
- Weight
- 595 g (stated in the RSS 2023 paper; not listed on the current site/BOM)
- Fingers
- 4
- Actuated degrees of freedom
- 16
- Total degrees of freedom
- 16
- Actuation
- Directly actuated servo joints (16x Dynamixel XC330-M288-T)
- Tactile / force sensing
- None in the base design
- Grip / payload
- Not published as a standardized grip/payload spec
- Buying format
- Research / open source
Where it performs
- Open-source design with comprehensive build documentation and parts list.
- High dexterity from 16 directly actuated joints and universal abduction-adduction.
- Cost-effective self-assembly under $2,000 for research and prototyping.
What to check before buying
- No integrated tactile or force sensing in the base design.
- Official pre-assembled supply options are currently unavailable.
- Requires self-assembly or sourcing from third-party vendors for hardware.