[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"project-72571":3},{"id":4,"name":5,"fullName":6,"owner":7,"repo":5,"description":8,"homepage":9,"htmlUrl":9,"language":10,"languages":9,"totalLinesOfCode":9,"stars":11,"forks":12,"watchers":13,"openIssues":14,"contributorsCount":15,"subscribersCount":15,"size":15,"stars1d":16,"stars7d":17,"stars30d":18,"stars90d":15,"forks30d":15,"starsTrendScore":19,"compositeScore":20,"rankGlobal":9,"rankLanguage":9,"license":21,"archived":22,"fork":22,"defaultBranch":23,"hasWiki":22,"hasPages":22,"topics":24,"createdAt":9,"pushedAt":9,"updatedAt":25,"readmeContent":26,"aiSummary":27,"trendingCount":15,"starSnapshotCount":15,"syncStatus":28,"lastSyncTime":29,"discoverSource":30},72571,"AmazingHand","pollen-robotics\u002FAmazingHand","pollen-robotics","Code and model to control the AH!",null,"Python",2198,236,19,13,0,3,17,51,9,78.72,"Apache License 2.0",false,"main",[],"2026-06-12 04:01:06","Project is licensed under [Apache 2.0](https:\u002F\u002Fwww.apache.org\u002Flicenses\u002FLICENSE-2.0)\n\n\nMechanical design is licensed under a:\n[Creative Commons Attribution 4.0 International License][cc-by].\n[![CC BY 4.0][cc-by-image]][cc-by]\n[![CC BY 4.0][cc-by-shield]][cc-by]\n\n[cc-by]: http:\u002F\u002Fcreativecommons.org\u002Flicenses\u002Fby\u002F4.0\u002F\n[cc-by-image]: https:\u002F\u002Flicensebuttons.net\u002Fl\u002Fby\u002F4.0\u002F88x31.png\n[cc-by-shield]: https:\u002F\u002Fimg.shields.io\u002Fbadge\u002FLicense-CC%20BY-lightgrey.svg\n\n\n\n# Amazing Hand project\n\n![Patterns](assets\u002FPatterns_Overview.jpg)\n\nRobotic hands are often very expensive and not so expressive. More dexterous ones often need cables and deported actuators in the forearm, i.e.,\n\nThe aim of this project is to be able to explore humanoid hand possibilities on a real robot (and Reachy2 is the perfect candidate for that !) with moderate cost.\n=> Wrist interface is designed for Reachy2's wrist (Orbita 3D), but it can be easily adapted to other robot's wrist...\n\n![Reachy](assets\u002FReachy.jpg)\n\nAmazing Hand is:\n- 8 dofs humanoid hand with 4 fingers\n- 2 phalanxes per finger articulated together\n- flexible shells almost everywhere\n- All actuators inside the hand, without any cables\n- 3D printable\n- 400g weight\n- low-cost (\u003C200€)\n- open-source\n\n[AmazingHand_Overview](\u002Fdocs\u002FAmazingHand_Overview.pdf)\n\n![Hand Overview](assets\u002FHand_Overview.jpg)\nEach finger is driven by a parallel mechanism. \nThat means 2x small Feetech SCS0009 servos are used to move each finger in flexion\u002Fextension and abduction\u002Fadduction\n\n![Finger Overview](assets\u002FFinger_Overview.jpg)\n\n\nTwo control methods are available:\n- Use a serial bus driver (Waveshare i.e.) + Python script\n- Use an Arduino + Feetech TTL Linker\n\nDetailed explanations are available for both ways, and basic demo software is also available.\nUp to you !\n\n##\n## UPDATE : Amazing Hand become **enhanced**, follow the branch \"Amazing Hand Enhanced\" : https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002FAmazing-Hand-Enhanced\u002FAmazingHand_Enhanced\n\n## Table of contents\n\n- [Build Resources](#build-resources)\n    - [BOM (Bill Of Materials)](#bom-bill-of-materials)\n    - [CAD Files and Onshape document](#cad-files-and-onshape-document)\n    - [Assembly Guide](#assembly-guide)\n    - [Run_basic_Demo](#run-basic-demo)    \n- [Disclaimer](#disclaimer)\n- [AmazingHand advanced Demo](#amazinghand-advanced-demo)   \n- [Don't want to build it by yourself? Kits are available!](#don't-want-to-build-it-by-yourself-?)    \n- [Project Updates & Community](#project-updates-&-community)\n    - [To Do List](#to-do-list)\n    - [FAQ](#faq)\n    - [Contact](#contact)\n    - [Thank you](#thank-you)\n\n\n# Build Resources\n## BOM (Bill Of Materials)\nList of all needed components is available here:  \n[AmazingHand BOM](https:\u002F\u002Fdocs.google.com\u002Fspreadsheets\u002Fd\u002F1QH2ePseqXjAhkWdS9oBYAcHPrxaxkSRCgM_kOK0m52E\u002Fedit?gid=1269903342#gid=1269903342)  \n![BOM](assets\u002FBOM.jpg)\n\nAnd remember to add control choice cost (2 options detailed previously)\n\n\nDetails for custom 3D printed parts are here: \n[3Dprinted parts](https:\u002F\u002Fdocs.google.com\u002Fspreadsheets\u002Fd\u002F1QH2ePseqXjAhkWdS9oBYAcHPrxaxkSRCgM_kOK0m52E\u002Fedit?gid=2050623549#gid=2050623549)\n\n![3Dparts](assets\u002F3Dparts.jpg)\n\nHere is a guide explaining how to print all the needed custom parts:\n[=> 3D Printing Guide](\u002Fdocs\u002FAmazingHand_3DprintingTips.pdf)\n![3DPrint_example](\u002Fassets\u002F3DPrint.jpg) \n\n\n\n## CAD Files and Onshape document\nSTL and Steps files can be found [here](https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002Fmain\u002Fcad) \n\nNote that fingers are the same if you want to build a left hand, but some parts are symmetrical. Specific right hand parts are preceded by an \"R\", and other left hand parts by an \"L\".\n\n![Heart](\u002Fassets\u002FHeart.jpg)\n\nEveryone can access the Onshape document too:   \n[Link Onshape](https:\u002F\u002Fcad.onshape.com\u002Fdocuments\u002F430ff184cf3dd9557aaff2be\u002Fw\u002Fe3658b7152c139971d22c688\u002Fe\u002Fbd399bf1860732c6c6a2ee45?renderMode=0&uiState=6867fd3ef773466d059edf0c)  \n\nNote that predefined positions are available in the \"named position\" tooling, with corresponding servo angles\n\n![Onshape&Named_Pos](\u002Fassets\u002FNamed_Pos.jpg)  \n\n## Assembly Guide\n\nAssembly guide for the Amazing Hand in combination with standard components in the BOM is here:  \n[=> Assembly Guide](\u002Fdocs\u002FAmazingHand_Assembly.pdf)  \n![Assembly_example](\u002Fassets\u002FAssembly.jpg)  \n\nYou will need a simple program \u002F script to calibrate each finger, available here:\n- With Python & Waveshare serial bus driver: [here](https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002Fmain\u002FPythonExample)\n- With Arduino & TTLinker: [here](https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002Fmain\u002FArduinoExample)\n\n\nNote that this assembly guide is for a standalone right hand.\n\nIf you need to build a standalone left hand, you can keep the same IDs for servo locations, and select if it's a right or left hand in the software.\n\n\n## Run basic Demo\n\nA basic demo is available with both Python & Arduino.\n\nYou will need an external power supply to be able to power the 8 actuators inside the hand.\n\nIf you don't have one already, a simple external power supply could be a DC\u002FDC 220V -> 5V \u002F 2A adapter with jack connector.\nCheck on the BOM list:\n[AmazingHand BOM](https:\u002F\u002Fdocs.google.com\u002Fspreadsheets\u002Fd\u002F1QH2ePseqXjAhkWdS9oBYAcHPrxaxkSRCgM_kOK0m52E\u002Fedit?gid=1269903342#gid=1269903342) \n\n- Python script: \"AmazingHand_Demo.py\" [here](https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002Fmain\u002FArduinoExample)\n  \n- Arduino program: \"AmazingHand_Demo.ino\" [here](https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002Fmain\u002FPythonExample)\n\n\nhttps:\u002F\u002Fgithub.com\u002Fuser-attachments\u002Fassets\u002F485fc1f4-cc57-4e59-90b5-e84518b9fed0\n\n## You need both right & left hands on the same bus ?\n\nIf you need to build both right and left hands to plug them on a robot, you will have to attribute different IDs for right and left hands. You can't have same ID for different servos on the same serial bus...\nVery important thing is to keep same assembly order for servos, but set them different IDs than for the right hand, as follows:\n![IDs](assets\u002FBoth_Hands-IDs.jpg)\n\nSpecific software is also needed, in order to drive each hand independently.\nThis simple demo runs the same hand patterns on both hands simultaneously, but it's only available in Python:\n\"AmazingHand_Demo_Both\" [here](https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002Fmain\u002FPythonExample)\n\n# Disclaimer\n\nI noticed some variations between theoretical angles for Flexion \u002F Extension, Abduction \u002F Adduction and angles in real life prototypes. This is probably due to several sources of variation (3D printed parts are not perfect, balljoint rods are manually adjusted one by one, servo horn rework, flexibility of plastic parts...).\n\nThis design has not yet been tested for long and complex prehensile tasks. Before being able to grasp objects safely (that means without damaging servos or mechanical parts), a kind of smart software needs to be built.\nSCS0009 servos have smart capabilities as:\n- Torque enable \u002F disable\n- Torque feedback\n- Current position sensor\n- Heat temperature feedback\n- ...\n\n\n# AmazingHand advanced Demo\n[![Tracking demo](https:\u002F\u002Fimg.youtube.com\u002Fvi\u002FU0TfeG3ZUto\u002Fmaxresdefault.jpg)](https:\u002F\u002Fwww.youtube.com\u002Fwatch?v=U0TfeG3ZUto)\n\nFor more advanced usage using inverse\u002Fforward kinematics there are several examples in the [Demo](Demo) directory along with some useful tools to test\u002Fconfigure the motors.\n\n\n\n# Don't want to build it by yourself?\n=> Kits are available here :\n\nSeeed Studio :\nhttps:\u002F\u002Fwww.seeedstudio.com\u002FAmazing-Hand-Right-Hand-The-Open-Source-Robotic-Hand-Developer-Kit.html\n\nWowRobo :\nhttps:\u002F\u002Fshop.wowrobo.com\u002Fproducts\u002Famazing-hand-the-open-source-robotic-hand-kit\n\n\n\n# Project Updates & Community\n## Updates from community\n\n- ### Amazing Base for the amazing hand : \n![Base](assets\u002FBase.jpg)\nSTL or Step file can be found [here](https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002Fmain\u002Fcad) \n\n- ### Specific Chinese BOM available here :\n[Chinese BOM](https:\u002F\u002Fdocs.google.com\u002Fspreadsheets\u002Fd\u002F1fHZiTky79vyZwICj5UGP2c_RiuLLm89K8HrB3vpb2h4\u002Fedit?gid=837395814#gid=837395814)\n\nThanks to Jianliang Shen !\n\n- ### Amazing Hand Control : Python GUI and CLI tools for controlling the AmazingHand\nKey features :\n- Control the fingers independently\n- Real time monitoring of servo feedbacks\n- Create custom animations by saving positions and replaying them sequentially\n  \n![AmazingHandControl](assets\u002FAmazingHandControl.jpg)\n\nLink to repository : [Link](https:\u002F\u002Fgithub.com\u002FBetatester777\u002FAmazingHandControl)\n\nThanks to Betatester777 !\n\n- ### Amazing hand with SG90 servos + force control setup 🔥\n\n![Force_control](\u002Fassets\u002FForce_control.jpg)\n![Force_control_setup](\u002Fassets\u002FForce_control_setup.jpg)\n\nGitHub with code: (https:\u002F\u002Fgithub.com\u002Fjoanbox24\u002FAmazingHand-with-sg90-servo-force-control)\n\n- ### Amazing hand interface for SO-Arm 🔥\n\n![SoHand](\u002Fassets\u002FSoHand.jpg)\n\nSTL or Step file can be found [here](https:\u002F\u002Fgithub.com\u002Fpollen-robotics\u002FAmazingHand\u002Ftree\u002Fmain\u002Fcad)\nOr directly on onshape workspace, folder \"community update\"\n\n\n## To Do List\n- Design small custom pcb with serial hub and power supply functions, to fit everything in the hand\n- Test with prehensile tasks \n      => Add smarter behaviour for closing hand, based on available motors feedbacks\n- Study possibility to have 4 different fingers length, or add a 5th finger\n- Study possibility to use STS3032 Feetech motors instead of SCS0009\n      => Stronger for quite the same volume, but servo horn is different\n- Study possibility to add compliancy by replacing rigid links to springs\n- Add fingertip sensor to push one step higher smart control\n\n\n## FAQ\nWIP\n\n## Contact\n\nYou can reach public discord channel here : \n[Discord AmazingHand](https:\u002F\u002Fdiscord.com\u002Fchannels\u002F519098054377340948\u002F1395021147346698300)\n\nOr \n[Contact me or Pollen Robotics](\u002Fdocs\u002Fcontact.md)\n\n## Thank you\nHuge thanks to those who have contributed to this project so far:\n- [Steve N'Guyen](https:\u002F\u002Fgithub.com\u002FSteveNguyen) for beta testing, Feetech motors integration in Rustypot, Mujoco\u002FMink and hand tracking demo\n- [Pierre Rouanet](https:\u002F\u002Fgithub.com\u002Fpierre-rouanet) for Feetech motors integration in pypot  \n- [Augustin Crampette](https:\u002F\u002Ffr.linkedin.com\u002Fin\u002Faugustin-crampette) & [Matthieu Lapeyre](https:\u002F\u002Fwww.linkedin.com\u002Fin\u002Fmatthieulapeyre\u002F) for open discussions and mechanical advices\n","Amazing Hand 是一个用于控制高性价比人形机械手的项目。它具备8个自由度，4根手指每根由两节组成，所有驱动器内置在手内部，无需外部缆线，支持3D打印，重量仅400克且成本低于200欧元。该项目采用Python编写控制脚本，提供了两种控制方式：一种是通过串行总线驱动器（如Waveshare）加Python脚本；另一种是使用Arduino配合Feetech TTL Linker。这种设计非常适合需要低成本、灵活且功能强大的机械手的应用场景，例如机器人研究与开发、教育实验等。此外，其开源特性也鼓励了社区贡献和进一步创新。",2,"2026-06-11 03:42:37","high_star"]