Skip to content
buildrobots.io
LearnStart

HandPollen Robotics2025FR

AmazingHand

Fully 3D-printable 8-DOF four-finger humanoid hand with all actuators inside the hand, designed for Pollen's Reachy2 wrist but adaptable.

activeDIYL1 Compiledbuildable

Difficulty index

6.5/13
6.5
Index breakdown
Classhand+3
Costunknown · midpoint+1.5
DOF8 DOF+0.8
Parts152 parts+1.2
How the index works

Specimen photographs

7 items
  • AmazingHand studio render, three-quarter front view
    Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from pollen-robotics/AmazingHand (Apache-2.0) · Hyperspawn render · source
  • AmazingHand studio render, side view
    Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from pollen-robotics/AmazingHand (Apache-2.0) · Hyperspawn render · source
  • 4 s turntable of the MJCF studio render.Rendered by Hyperspawn from pollen-robotics/AmazingHand (Apache-2.0) · Hyperspawn render · source
  • AmazingHand overview drawing with fingers and dimensions
    Overview drawing from the AmazingHand README.Pollen Robotics (AmazingHand) · Apache-2.0 · source
  • AmazingHand render, four-finger 3D-printed hand
    From the AmazingHand README.Pollen Robotics (AmazingHand) · Apache-2.0 · source
  • Amazing handPollen Robotics · official video, embedded · source
  • Amazing Hand x Reachy 2 🤯Pollen Robotics · official video, embedded · source

Spec card

4/13 known
Degrees of freedom
8
Mass
0.4 kg
Part count
152
Actuators
8x Feetech SCS0009 servos (2 per finger)

Not in the registry: height, payload, speed, runtime, battery, price, bom total, compute, sensors. Left blank rather than guessed.

What you learn building it

  • +Tendon and linkage transmissions
  • +Controlling many coupled joints
  • +Tactile and proprioceptive sensing
  • +Cable routing in tight spaces
  • +FDM 3D printing: 47 parts
  • +Tools used: FDM printer, FDM printer with a short extruder-to-hotend path (direct drive), Dremel with abrasive disk (or strong cutting pliers), Portable drill, 1.5 mm drill bit, M2 tap, Flat pliers, 2 mm drill bit +8
  • +21 assembly steps across 8 subassemblies
  • +Flashing firmware for Feetech SCS0009 bus (IDs 1-8, 1 Mbaud), Waveshare serial bus servo driver + host Python (rustypot), Arduino Mega 2560 + Feetech TTLinker (SCServo library)
  • +Testing in simulation (URDF/MJCF) before touching hardware

Openness

90/100
  • publicCAD
  • publicBOM
  • publicFirmware
  • publicSim model
  • publicSoftware
  • not publicPolicies

Score 90/100 computed from what is public: CAD 25, BOM 20, sim 20, firmware 15, software 10, policies 10. Hardware license: CC-BY-4.0. Software license: Apache-2.0.

Repos & models

MJCF ↗
SiteDocsBuy

Build it

Has an ORP build package.
BOM total
unpriced
Lines priced
0/15
Parts
152
Steps
21
Version
0.1.0

15 lines have no price yet, so the real total is higher.

Largest BOM lines

Largest bill of materials lines
PartQtyUnit
Feetech SCS0009 serial bus micro servo (2 per finger; package includes cross horn, 2x7 screws and M2x4 horn screw)SCS00098?
M2 ball joint, L19 mm (supplied with M2x12 screw and M2 nuts)16?
M2 threaded rod, 300 mm (cut into 4 long and 8 short rods)1?
Steel axis (dowel pin) D2 x 10 mm8?
Steel axis (dowel pin) D2 x 16 mm8?
Plain bushing, 6 mm ID / 8 mm OD (igus GFM-0608-04 type)GFM-0608-048?
Thermoplastic (self-tapping) screw 2.5 x 6 mm16?
Thermoplastic (self-tapping) screw 2.5 x 8 mm30?

Fabrication

  • FDM 3D printing47
Firmware repo
  • All upstream prices are in EUR (BOM total €116.89 per hand, €128.28 with the Waveshare board, €142.29 with Arduino + TTLinker; the sheet's own USD conversion uses 1.16). They are kept as notes; no USD prices are set.
  • Most vendor links are French Amazon/AliExpress listings (tracking parameters stripped). Alibaba links are the Feetech supplier pages. A Chinese-market BOM is maintained separately by Jianliang Shen (linked in the README).
  • Rod lengths are inconsistent inside the assembly guide: page 6 says cut 4 rods at 26-28 mm and 8 rods at 14-16 mm, page 9 lists 2x 18 mm and 1x 25 mm per finger. Cut long, then trim against the length tooling.
  • The length tooling needs 2 extra D2x16 axes that stay pressed in; the BOM lists 8 D2x16, exactly the 4 fingers' need. Order 10.
  • The BOM sheet's screw rows carry swapped link annotations ('M2.5 x 8' on the 2.5x6 row and vice versa); both point to the same listing.
  • Material for the top shell differs: the parts sheet says flexible filament, the printing guide also shows a rigid PLA hand shell (20-40% infill).
  • The wrist interface is designed for Pollen's Reachy2 (Orbita 3D wrist). An SO-ARM interface and a desk base are community additions in cad/.
  • Upstream disclaimer: real finger angles vary from the CAD, and the hand is not yet validated for long grasping tasks; stalled SCS0009 servos can overheat.
  • An 'Amazing Hand Enhanced' revision lives on a separate branch (Amazing-Hand-Enhanced); this package follows main.
  • Print hours and filament grams are not published. Assembly time per the Overview is 5-6 hours.
  • Ready-made kits exist: Seeed Studio (https://www.seeedstudio.com/Amazing-Hand-Right-Hand-The-Open-Source-Robotic-Hand-Developer-Kit.html) and WowRobo (https://shop.wowrobo.com/products/amazing-hand-the-open-source-robotic-hand-kit).

Simulate

Load it in the browser simulator and train a policy before building.

Open on humanoidrobots.training ↗

Next rung

Bittle / Bittle X →Petoi · quadruped · index 7.5

Easiest buildable quadruped, the next class up from hand. Adds gait generation.

NoteAn 'Amazing Hand Enhanced' branch exists. Third-party kits from WowRobo/Seeed. Onshape CAD public. Left and right MJCF models ship in Demo/AHSimulation.

Sources

  1. [1]AmazingHand repo (licenses, specs)checked 2026-09-24
  2. [2]Hugging Face blog announcementchecked 2026-09-24
  3. [3]AmazingHand BOM sheet (EUR totals)checked 2026-09-25