LEAP Hand
Open-source 16-DoF, 4-finger research hand from Carnegie Mellon; builds for under $2,000
Price
Price not publicly disclosed
No defensible public pricing observation is documented yet.
Key facts
Values reflect the public record
- Height
- No public data documented
- Weight
- 595 g (stated in the RSS 2023 paper; not listed on the current site/BOM)Peer reviewed
- Payload
- No public data documented
- Degrees of freedom
- No public data documented
- Runtime
- No public data documented
- Max speed
- No public data documented
Canonical robot record
Overview
LEAP Hand has four fingers and 16 directly actuated joints driven by Dynamixel XC330-M288-T servos, with a universal abduction-adduction mechanism that the authors say allows maximal dexterity regardless of finger pose. The paper lists a weight of 595 g, mounting to a variety of robot arms, and control via ROS, Python, or C++.
The platform is open source: the parts list, CAD files, and assembly instructions are published, with the full build costing under $2,000 and taking about 4 hours. The official assembled-hand supply via Robotis/Dexbotics has ended (tariff-related), leaving self-assembly or third-party sellers; tendon-driven v2 and v2-adv successors were announced at RSS 2025.
RoboZaps maintains this record as part of its canonical robotics database. Specs are source-verified where linked; the record compares public facts across manufacturers rather than representing a single robot maker.
- Spec sources
- 1 linked
- Verification
- Verified · 8/8 specs source-verified
- Deployment
- Research platform
- Last verified
- Jul 31, 2026
Specifications
Grouped technical data with source detail available on demand.
8 documented values
Commercial
| Buying format | Research / open sourcePeer reviewedVerified Jul 31, 2026 Carnegie Mellon University |
|---|
Mechanics
| Fingers | 4Peer reviewedVerified Jul 31, 2026 Carnegie Mellon University |
|---|---|
| Actuated degrees of freedom | 16Peer reviewedVerified Jul 31, 2026 Carnegie Mellon University |
| Total degrees of freedom | 16Peer reviewedVerified Jul 31, 2026 Carnegie Mellon University |
| Actuation | Directly actuated servo joints (16x Dynamixel XC330-M288-T)Peer reviewedVerified Jul 31, 2026 Carnegie Mellon University |
Performance
| Grip / payload | Not published as a standardized grip/payload specPeer reviewedVerified Jul 31, 2026 Carnegie Mellon University |
|---|
Physical
| Weight | 595 g (stated in the RSS 2023 paper; not listed on the current site/BOM)Peer reviewedVerified Jul 31, 2026 Carnegie Mellon University |
|---|
Sensing
| Tactile / force sensing | None in the base designPeer reviewedVerified Jul 31, 2026 Carnegie Mellon University |
|---|
Evidence & changelog
Sources behind this record and material corrections made over time.
Sources
- LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning (RSS 2023) · Carnegie Mellon University — cites Fingers, Actuated degrees of freedom, Total degrees of freedom, Actuation, Tactile / force sensing, Weight, Grip / payload, Buying format
Manufacturer
- Headquarters
- No public data documented
- Founded
- No public data documented
