AmazingHand Product Information
AmazingHand is an open-source, 3D-printable humanoid dexterous hand aimed at embodied-intelligence research, robotics education and human-robot interaction prototypes. The hand body is the same; two hardware options are currently offered: SCS0009 serial bus servos and PWM servos (ESP32-S3).
Mechanical structure
- 4 fingers, 8 degrees of freedom: each finger has 2 DoF (flexion/extension + abduction/adduction), driven differentially by two servos through a parallel mechanism.
- Actuators built in: all servos are mounted in the hand; no cables need to run to the forearm.
- 3D printable: the shell and linkages can be printed; the whole hand weighs about 400 g.
- Both hands supported: use the left or right hand alone, or two hands together on a robot.
- Wrist interface: the original design fits Reachy 2's Orbita 3D wrist, and can be adapted to other robot arms.
Basic specifications
| Parameter | Specification |
|---|---|
| Weight | about 0.416 kg |
| Number of fingers | 4 |
| DoF per finger | 2 DoF |
| Extended height (excluding base) | 195 mm |
| Palm width | 105 mm |
| Palm thickness | about 90 mm |
| Maximum span between index finger and thumb | 180 mm |
| Load per finger | about 0.2 kg |
| Maximum load with four fingers clenched | about 0.5 kg |
Payload, voltage and servo parameters depend on the servo version chosen; for the full comparison, see Version comparison and selection.
Two hardware options
| Item | SCS0009 serial bus version | PWM servo version |
|---|---|---|
| Servos | Feetech SCS0009 ×8 | PTK 7452 MG-D digital PWM servo ×8 |
| Control | PC/Raspberry Pi + bus driver board | ESP32-S3 onboard firmware |
| Feedback | position/speed/voltage/temperature readback | no readback |
| Suited for | precision, data collection, LeRobot / SO-ARM101 | standalone demos, gesture interaction, quick start |
Software ecosystem
- Web control: browser sliders, 19 preset poses, MediaPipe camera teleoperation, with SCS0009 / PWM driver switching.
- Desktop host software: SCS0009 uses
AmazingHandControl(Tkinter GUI + CLI); PWM usesAmazingHand-PWM/tools/hand_gui.py. - Hand tracking: SCS0009 offers the official dora + MuJoCo IK demo; PWM offers MediaPipe tracking built into the GUI.
- Open-source resources: CAD, assembly/printing documentation and Arduino/Python examples are all in the repository.
Open-source resources
- Assembly guide PDF
- 3D printing tips PDF
- AmazingHand overview PDF
- CAD / STL / STEP
- Official upstream project (Pollen Robotics)