Servo-driven four-finger hand, 13 actuators

A buildable dexterous hand with smart servos in the palm and linkage-driven fingertips.

Multi-finger handNativeEntrantMIT, CERN-OHL-P-2.0

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Facts

Kind: Multi-finger hand
Class: Open hardware (buildable)
Capabilities: pinchholds a part between two opposed tips or pads
powerwraps several fingers around a part
Mount: To confirm: no arm interface is published with the model.ISO pattern: none (own interface)

Specifications

Spec	Value	Basis	Source
Actuators	13 position servos	Derived	derived from the files or the model

Simulation

Status: NativeNative simulation model
Model source: Upstream MJCF.
Fidelity: Rigid model
Model: 13 actuators · 502 g
Tournament: Entrant2 entrant specs in the effector tournament.

Compile and attach gate

Each entrant spec is built in the tournament's shared scene on every training part. One nominal episode per built part (no placement error, seed 0) is information, not part of the gate.

Servo-driven four-finger hand, 13 actuators, power grasp

GATE PASSED

Primitive: power
Actuators: 13
Mass: 502 g
Reach: 59 mm
Opening: n/a

Training part	Gate	Held (nominal)	Nominal outcome	Penetration
Block	built	no	Hit the table	0.49 mm
Steel slug	built	no	Hit the table	0.35 mm
Hex standoff	built	no	Hit the table	0.42 mm
L-bracket	built	no	Hit the table	0.00 mm
Pipe tee	built	no	Hit the table	0.29 mm
Flanged bushing	built	no	Hit the table	0.33 mm

Held on no training part in the nominal episode.

Servo-driven four-finger hand, 13 actuators, pinch

GATE PASSED

Primitive: pinch
Actuators: 13
Mass: 502 g
Reach: 59 mm
Opening: n/a

Training part	Gate	Held (nominal)	Nominal outcome
Block	built	no	Hit the table
Steel slug	built	no	Hit the table
Hex standoff	built	no	Hit the table
L-bracket	built	no	Hit the table
Pipe tee	built	no	Hit the table
Flanged bushing	built	no	Hit the table

Held on no training part in the nominal episode.

Licence

MITCovers the simulation model. Licence text
CERN-OHL-P-2.0Covers the hardware design (stated on the project's licensing page), linked. Licence text

Licence rating: green. Full attribution: see the credits page.

Files

File	Type	Size	Licence	Changed
hand-4f-servo-13act.xmlassets/effectors/library/hand-4f-servo-13act/sim/hand-4f-servo-13act.xml	Simulation file (derived)	18.7 kB	MIT	modified

Each file links to its copy in the repository. Licence texts sit next to them in LICENSES/. What changed is on the credits page.

Upstream

Upstream repository, commit 6c7d17f4