Build, program, and customize your own open-source robotic hand.

AmazingHand is a compact four-finger robotic hand with 8 degrees of freedom, designed for grasping experiments, teleoperation, robotics education, and AI development. Eight Feetech bus servos are integrated directly inside the palm, eliminating the need for external motors or tendon mechanisms in the forearm.

From simple opening and closing movements to pinching and object grasping, AmazingHand gives developers, researchers, and students a practical platform for exploring robotic manipulation. The kit includes the key mechanical, control, and power components required to start building.

Key Features

Fully OpenSource Design All mechanical files, firmware, and control code are openly available for customization.
8DOF Dexterous Hand Four fingers, each with 2 DOF, enabling flexion/extension and adduction/abduction.
Internal Actuation Each finger driven by 2 Feetech SCS0009 servos with differential mechanism for smooth motion.
3DPrintable Construction Rigid skeleton + soft TPU shells for safe adaptive grasping.
Lightweight & Compact ~400 g, suitable for humanoid arms, mobile robots, and Robotics DIY innovation.
Flexible Wrist Interface Designed for Reachy2 but adaptable to other robotic platforms.
Easy Control Supports Python, Arduino, and embedded systems via serial bus.
CommunityDriven Development Backed by WowRobo Robotics and opensource community.

Specifications

Category	Details
Degrees of Freedom	8DOF (4 fingers 2 DOF each)
Actuation	Parallel mechanism with 2 Feetech SCS0009 servos per finger
Motion Types	Flexion/extension + adduction/abduction via differential control
Construction	Rigid 3Dprinted skeleton + flexible TPU shell
Weight	~400 g
Control Interface	Serial bus (Python, Arduino, embedded systems)
Licensing	Code: Apache 2.0; Mechanical design: CC BY 4.0
Compatibility	Reachy2 wrist interface; adaptable to other Robotics platforms

Applications

Humanoid Robotics Research Explore dexterous manipulation and expressive hand motion.
STEM & Education Perfect for teaching kinematics, servo control, and robotic hand design.
DIY Innovation Fully opensource design enables customization and experimentation.
HumanRobot Interaction Soft TPU shells and natural motion for safe interaction.
Rapid Prototyping 3Dprintable structure allows fast iteration and lowcost development.

Resources

Github

Python script

Arduino program

Example control

Part List

Component/Function	Right / Left Complete PLA Version	Right / Left PLA Version with Soft Rubber Fingers
Feetech SCS0009 Servo (8 pcs)	Included	Included
Material of Structural Parts	Complete PLA Printed Parts (entire structure in PLA)	PLA Printed Parts with Soft Rubber Fingers (PLA structure, rubber fingers)
Waveshare Servo Adapter (1 pcs)	Included	Included
5V2A Power Adapter (1 pcs)	Included	Included
All necessary hardware parts (screws, nuts, etc.)	Included	Included
1.5m Dual-Type-C Data Cable (1 pcs)	Included	Included