Robot hand
LEAP Hand V1
An open four-finger research hand assembled from printed parts and Dynamixel motors. The authors publish assembly resources, hardware models and control software.
Records last verified Oct 13, 2026 · Send a correction
Specifications
— means unknown or not disclosed. Notes preserve variant and measurement conditions.
| Specification | Value, confidence & sources |
|---|---|
| Fingers | 4Official — stated by the manufacturer or organizer |
| Degrees of freedom | 16 DoFOfficial — stated by the manufacturer or organizer Conditions & notesSixteen joint-angle commands and feedback values in the authors' implementation. |
| Actuated degrees of freedom | 16 DoFOfficial — stated by the manufacturer or organizer Conditions & notesMotorized joint controls in the original research implementation. |
| Weight | 0.595 kgOfficial — stated by the manufacturer or organizer Conditions & notes595 g for the four-finger hand in the paper. |
| Maximum grip force | — |
| Fingertip force | — |
| Payload | — |
| Tactile sensing | — |
| Actuation | Electric Dynamixel motorsOfficial — stated by the manufacturer or organizer |
| Interface | USB to host; ROS, Python and C++ interfacesOfficial — stated by the manufacturer or organizer |
Published price
Price
— Price not disclosed in the checked sources.
Used in
Officially documented robot associations; notes identify the configuration and whether the component is optional.
No official association with a robot in this catalog was established in the checked sources.
More robot hands
Evidence
Sources
- [s1] LEAP Hand V1 project and open assembly resources ↗
Carnegie Mellon University · official · accessed Oct 13, 2026
- [s2] LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning ↗
Shaw, Agarwal and Pathak · paper · published Sep 12, 2023 · accessed Oct 13, 2026