Yale OpenHand
Based on published sources · Not tested by us ·
Overview
A family of adaptive hands with shared CAD parts and a separate Dynamixel control repository. [S001]
Specifications
| Detail | Description |
|---|---|
| Type | Adaptive grippers Editorial grouping from hardware design. Editorial assessment [S001] · Checked 2026-09-30 |
| Intended users | Research builders evaluating end-effector fabrication and integration Editorial assessment [S001] · Checked 2026-09-30 |
| Assembly | Choose model and finger construction, resolve shared SolidWorks parts/configurations, follow fabrication guide, configure servo IDs and check model-specific travel. Research synopsis of upstream route; not independently executed instructions. Editorial assessment [S001] [S002] [S003] [S004] [S005] · Checked 2026-09-30 |
| Calibration | Not known |
| Operating system | Not known |
| Computer needed | Not known |
3D preview
Preview not available yet. A model has not yet been prepared and approved for display on this page. This does not mean the project lacks CAD files; see Source files and licenses for the reviewed source availability.
Assembly and use
Configuration and sourcing
Model T uses one actuator for adaptive grasping; Model T42 uses two for planar manipulation and precision grasping. This profile compares the family rather than choosing a complete build. Flexure-joint fingers involve molded urethane, so the finger choice changes the fabrication route. [S001]
Model-dependent Dynamixel servos, U2D2, external motor supply, printed parts, tendons and finger materials; choose one model before quantities. [S001] [S002] [S003] [S004] [S005]
Choose model and finger construction, resolve shared SolidWorks parts/configurations, follow fabrication guide, configure servo IDs and check model-specific travel. [S001] [S002] [S003] [S004] [S005]
Integration
The control README supports T, T42 and O. Standalone Python control uses numpy, scipy and pyserial; the upstream-tested versions are Python 2.7 and 3.6. The documented ROS path uses ROS Kinetic with Python 2. These are historical documented environments, not verified current compatibility. U2D2 supplies communication, not motor power. [S001] [S002] [S003] [S004] [S005]
Design limits and source rights
One exact model BOM, hardware/control revision relationship, current fabrication supplies and compatible arm adapter remain unresolved. [S001] [S002] [S003] [S004] [S005]
The hardware uses CC BY-NC 3.0, with attribution and a noncommercial restriction; commercial reuse requires a separate permission basis. The separate openhand_node control repository uses MIT, requiring its copyright and permission notice to be retained. Those licenses do not establish source rights for the purchased components. [S001] [S002] [S003] [S004] [S005]
This is a source-researched design profile. We have not assembled or tested this configuration; no complete current setup price is established.
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
Source-researched component coverage; complete build, commercial rights and performance qualification remain separate.
| Layer | Availability / license |
|---|---|
| mechanical design | available · CC-BY-NC-3.0 Hardware CC BY-NC 3.0; separate openhand_node control repository MIT. [S001] [S002] [S003] [S004] [S005] |
| electronics | not found · License not fully assessed Inspected sources do not establish a complete revision-matched source set for this layer. This finding does not mean the purchased components are closed source. [S001] [S002] [S003] [S004] [S005] |
| firmware | not found · License not fully assessed Inspected sources do not establish a complete revision-matched source set for this layer. This finding does not mean the purchased components are closed source. [S001] [S002] [S003] [S004] [S005] |
| software | not found · License not fully assessed Inspected sources do not establish a complete revision-matched source set for this layer. This finding does not mean the purchased components are closed source. [S001] [S002] [S003] [S004] [S005] |
| documentation | available · CC-BY-NC-3.0 Hardware CC BY-NC 3.0; separate openhand_node control repository MIT. [S001] [S002] [S003] [S004] [S005] |
This configuration is reviewed as a physical end effector with ordinary control, without a selected learned policy or dataset.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · grablab / project contributors
Project overview
Accessed 2026-09-30 · b10197dcd79e7bcfa92c6d5a0bfa479e6a789fba README.mdSource notes
Inspected source text for the scoped findings in this research record.
- S002 · grablab / project contributors
License evidence
Accessed 2026-09-30 · b10197dcd79e7bcfa92c6d5a0bfa479e6a789fba LICENSE.mdSource notes
Inspected source text for the scoped findings in this research record.
- S003 · grablab
Pinned artifact inventory
Accessed 2026-09-30 · b10197dcd79e7bcfa92c6d5a0bfa479e6a789fbaSource notes
File inventory inspected; source completeness and build compatibility assessed separately.
- S004 · grablab / project contributors
control
Accessed 2026-09-30 · a7feecf042073dfcb315e5c5d738798a1e508bd4 README.mdSource notes
Inspected source text for the scoped findings in this research record.
- S005 · grablab / project contributors
control_license
Accessed 2026-09-30 · a7feecf042073dfcb315e5c5d738798a1e508bd4 LICENSESource notes
Inspected source text for the scoped findings in this research record.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1
Change history
2026-09-30 — Deep source acquisition, licensing and configuration review in isolated end-effector research staging.
2026-09-30 — Classified in the end-effector hierarchy with cited mechanism and platform evidence; build and rights limitations retained.