Yeah Hand
Based on published sources · Not tested by us ·
Overview
Yeah Hand/Rebelia lineage: humanlike hand with separate robot/prosthetic firmware and commercial servos. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011]
Yeah Hand provides robotic and prosthetic hand configurations with different controls. This entry also retains the related Rebelia V1 lineage as version context, rather than treating it as a separate independent design. Select the configuration before matching firmware, electronics and released geometry. [S003] [S005] [S009]
Specifications
| Detail | Description |
|---|---|
| Type | Dexterous hands Source-researched; no physical verification. Editorial assessment [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011] · Checked 2026-09-30 |
| Intended users | Builders evaluating this tooling design and its integration requirements Editorial assessment [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011] [S012] [S013] [S014] [S015] [S016] [S017] [S018] [S019] [S020] [S021] [S022] · Checked 2026-09-30 |
| Assembly | Select robotic or prosthetic electronics and match the released geometry, actuator BOM and firmware; compatibility remains unverified. Known prerequisites and unresolved assembly decisions; not a complete build instruction. Editorial assessment [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011] [S012] [S013] [S014] [S015] [S016] [S017] [S018] [S019] [S020] [S021] [S022] · 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
Robotic versus prosthetic build
The V2 BOM lists five WaveShare ST3215 servos. The robotic version uses a purchased WaveShare ESP32 Servo Driver; the prosthetic version uses a custom PCB and EMG sensors. Start with hardware/BOM.md and hardware/Electronics/Readme.md to distinguish these routes. Neither electronics route establishes a cobot or delta mounting flange. [S004] [S015]
Fabrication uses different materials for different parts, including flexible fingers in TPU with PLA/ABS, a PLA/PETG thumb base and PLA covers. Tendon material and the selected geometry must match. The BOM still leaves wrist-fastener details unfinished, so it does not yet provide a fully reconciled shopping list. [S004]
CAD is distributed through release assets. Match the chosen release to the current documentation and firmware before fabrication; the reviewed documents do not establish that every release and branch combination is compatible. [S005]
Rights and control dependencies
The project declares CERN-OHL-S-2.0 for hardware, GPL terms for firmware and Creative Commons terms for documentation. Read the particular file notices rather than applying one license to the entire build. [S002] [S012] [S014]
The firmware instructions list external libraries, including modified ESP32FFT material described as having a custom license. Pin those dependencies and obtain their license texts before relying on reuse rights. The project’s GPL declaration does not settle every dependency or the source rights of the purchased controller. No complete delivered cost, hardware build or performance test is established here. [S013] [S015]
Cost
No current, complete configuration-specific build cost has been established for this profile.
Source files and licenses
CERN-OHL-S-2.0 hardware; GPL firmware; CC-BY-SA documentation. CAD is in release assets, not the default-branch tree. Match v1.2 asset and current docs before building; native Blender file is over 400 MB and not preserved here. Rebelia V1 is a related version, not an additional independent family.
| Layer | Availability / license |
|---|---|
| mechanical design | available · CERN-OHL-S-2.0 CERN-OHL-S-2.0 hardware; GPL firmware; CC-BY-SA documentation. Availability refers to the scoped files described here, not a complete configuration-matched manufacturing pack. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011] [S012] [S013] [S014] [S015] [S016] [S017] [S018] [S019] [S020] [S021] [S022] |
| electronics | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011] [S012] [S013] [S014] [S015] [S016] [S017] [S018] [S019] [S020] [S021] [S022] |
| firmware | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011] [S012] [S013] [S014] [S015] [S016] [S017] [S018] [S019] [S020] [S021] [S022] |
| software | not found · License not fully assessed A complete revision-matched source set for this tooling configuration was not established in the inspected documents. Standalone controls and purchased components require separate review; this is not a claim that no code or electronic files exist. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011] [S012] [S013] [S014] [S015] [S016] [S017] [S018] [S019] [S020] [S021] [S022] |
| documentation | available · License not fully assessed CERN-OHL-S-2.0 hardware; GPL firmware; CC-BY-SA documentation. Availability refers to the scoped files described here, not a complete configuration-matched manufacturing pack. [S001] [S002] [S003] [S004] [S005] [S006] [S007] [S008] [S009] [S010] [S011] [S012] [S013] [S014] [S015] [S016] [S017] [S018] [S019] [S020] [S021] [S022] |
This profile scopes hardware tooling, without selecting a learned controller or training dataset.
References
Links identify the documentation and revisions used in this profile. Access dates record when each source was retrieved.
- S001 · opsobot
Yeah Hand pinned tree
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31Source notes
Evidence for the scoped draft design assessment.
- S002 · opsobot
Yeah Hand / LICENSE
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 LICENSESource notes
Evidence for the scoped draft design assessment.
- S003 · opsobot
Yeah Hand / Readme.md
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 Readme.mdSource notes
Evidence for the scoped draft design assessment.
- S004 · opsobot
Yeah Hand / hardware/BOM.md
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/BOM.mdSource notes
Evidence for the scoped draft design assessment.
- S005 · opsobot
Yeah Hand / hardware/README.md
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/README.mdSource notes
Evidence for the scoped draft design assessment.
- S006 · opsobot
Yeah Hand / hardware/Electronics/Prosthetic Version/GerberFiles_ServoBoard Slim/BOM.TXT
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/Electronics/Prosthetic Version/GerberFiles_ServoBoard Slim/BOM.TXTSource notes
Evidence for the scoped draft design assessment.
- S007 · opsobot
Rebelia hand pinned tree
Accessed 2026-09-30 · 52d87a20bf25792f05fc40d0a79e470379ae71c8Source notes
Evidence for the scoped draft design assessment.
- S008 · opsobot
Rebelia hand / LICENSE
Accessed 2026-09-30 · 52d87a20bf25792f05fc40d0a79e470379ae71c8 LICENSESource notes
Evidence for the scoped draft design assessment.
- S009 · opsobot
Rebelia hand / Readme.md
Accessed 2026-09-30 · 52d87a20bf25792f05fc40d0a79e470379ae71c8 Readme.mdSource notes
Evidence for the scoped draft design assessment.
- S010 · opsobot
Rebelia hand / hardware/BOM.md
Accessed 2026-09-30 · 52d87a20bf25792f05fc40d0a79e470379ae71c8 hardware/BOM.mdSource notes
Evidence for the scoped draft design assessment.
- S011 · opsobot
Rebelia hand / hardware/Electronics/Prosthetic Version/GerberFiles_ServoBoard Slim/BOM.TXT
Accessed 2026-09-30 · 52d87a20bf25792f05fc40d0a79e470379ae71c8 hardware/Electronics/Prosthetic Version/GerberFiles_ServoBoard Slim/BOM.TXTSource notes
Evidence for the scoped draft design assessment.
- S012 · opsobot
firmware/LICENSE.txt
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 firmware/LICENSE.txtSource notes
Build and artifact context for the selected design.
- S013 · opsobot
firmware/README.md
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 firmware/README.mdSource notes
Build and artifact context for the selected design.
- S014 · opsobot
hardware/LICENSE.txt
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/LICENSE.txtSource notes
Build and artifact context for the selected design.
- S015 · opsobot
hardware/Electronics/Readme.md
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/Electronics/Readme.mdSource notes
Build and artifact context for the selected design.
- S016 · opsobot
hardware/Renders/LICENSE.txt
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/Renders/LICENSE.txtSource notes
Build and artifact context for the selected design.
- S017 · opsobot
firmware/src/RebeliaHuman/LICENSE.txt
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 firmware/src/RebeliaHuman/LICENSE.txtSource notes
Build and artifact context for the selected design.
- S018 · opsobot
firmware/src/RebeliaRobot/COPYING.txt
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 firmware/src/RebeliaRobot/COPYING.txtSource notes
Build and artifact context for the selected design.
- S019 · opsobot
hardware/Electronics/Prosthetic Version/Readme.md
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/Electronics/Prosthetic Version/Readme.mdSource notes
Build and artifact context for the selected design.
- S020 · opsobot
hardware/Electronics/Prosthetic Version/ServoBoardSlim Netlist.txt
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/Electronics/Prosthetic Version/ServoBoardSlim Netlist.txtSource notes
Build and artifact context for the selected design.
- S021 · opsobot
hardware/Electronics/Prosthetic Version/ServoBoardSlim Partlist.txt
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/Electronics/Prosthetic Version/ServoBoardSlim Partlist.txtSource notes
Build and artifact context for the selected design.
- S022 · opsobot
hardware/Electronics/Prosthetic Version/GerberFiles_ServoBoard Slim/HoleReport.txt
Accessed 2026-09-30 · e31fb0e219bd1bc90a19fbc6237eaff9766a3c31 hardware/Electronics/Prosthetic Version/GerberFiles_ServoBoard Slim/HoleReport.txtSource notes
Build and artifact context for the selected design.
Correction guidance · Discussion is not enabled · Profile format 0.6.0-draft.1
Change history
2026-09-30 — Classified in the end-effector hierarchy with cited mechanism and platform evidence; build and rights limitations retained.