OrcaHand
The OrcaHand is an open-source, anthropomorphic tendon-driven robotic hand developed by the Soft Robotics Lab at ETH Zurich. It features 17 degrees of freedom, can be fully assembled in under eight hours, and is built for a material cost below 2,000 CHF. Key design innovations include popping joints, auto-calibration, and a low-friction tendon retensioning system that enables continuous reliable operation without slack or overheating. The hand has been demonstrated to withstand over 10,000 continuous operation cycles. It supports teleoperation (including with ROKOKO gloves and Apple Vision Pro), imitation learning, and zero-shot sim-to-real reinforcement learning. All design files, control code, simulation environments (MuJoCo/URDF), and assembly guides are open-source under MIT and Creative Commons licenses.
Primary use case: Open-source dexterous manipulation research platform for teleoperation, imitation learning, and sim-to-real reinforcement learning
Weight
1.2 kg
Specifications
Physical
Weight
1.2 kg
Locomotion
stationary
Manipulation
Max Lift/Arm
5 kg
Commercial
Availability
research
Primary Use Case
Open-source dexterous manipulation research platform for teleoperation, imitation learning, and sim-to-real reinforcement learning