THE COLLECTION / HANDS & GRIPPERS
Dexterous hands and grippers to mount on an arm, or to study manipulation on their own.
HandChestnut Robotics1,054 GitHub stars, snapshot Oct 30, 2026
3D-printed · actuators not documented
A tendon-driven, 3D-printed five-finger hand for dexterous manipulation research.
HandPollen Robotics2,462 GitHub stars, snapshot Oct 21, 2026
3D-printed · 8 actuators
A 400 g four-finger hand with all eight servos inside the hand, so no cables run to a forearm.
HandStella-robot
3D-printed · actuators not documented
A five-fingered dexterous hand built around modular joint modules and 3D-printed structural parts for robotics research and development.
HandMilan Amighi, Constantin Scholz, and Bram Vanderborght (Brubotics – VUB & imec)7 GitHub stars, snapshot Oct 30, 2026
3D-printed · actuators not documented
A two-finger gripper tutorial adds Melexis Tactaxis 3D force sensors to the fingertips for measuring normal and shear forces.
Handpollen-robotics
3D-printed · actuators not documented
A two-finger parallel gripper with 3D-printable custom parts and an interchangeable tip.
HandZenan Sheng, Linsheng Hou & Zhenghao Fei — Zhejiang University
3D-printed · actuators not documented
A strawberry-harvesting end effector with a parallel gripper and configurations for handheld data collection or robotic-arm use.
HandSource-Robotics184 GitHub stars, snapshot Oct 30, 2026
3D-printed · 1 actuators
A 400 g adaptive electric gripper with adjustable gripping force and a 48 mm stroke, for assembly and human-robot collaboration.
HandPhysical-Intelligence-Laboratory131 GitHub stars, snapshot Oct 30, 2026
3D-printed · actuators not documented
A handheld gripper with a LiDAR and camera, using 3D-printed mounts and soft fingers.
HandYosub Shin
3D-printed · actuators not documented
A hand-worn, two-finger gripper with printed parts and coupled jaws, used to collect demonstrations for the YAM linear gripper.
HandFrontier Research Center, Toyota Motor Corporation188 GitHub stars, snapshot Oct 30, 2026
Mixed · 1 actuators
A robot-mounted DYNAMIXEL-actuated gripper with public STEP and 3D-printable part files.
Side by side
The maker’s own figures, with their scope. Open parts count the six parts we check on every project.
| Robot | Maker’s cost | Actuators | Build | Open parts | Can you sell it? | GitHub stars |
|---|---|---|---|---|---|---|
| Aero Hand OpenChestnut Robotics | $314complete kit | Not documented | 3D-printed | 6 of 6 | No, not without permission | 1,054 |
| AmazingHandPollen Robotics | Under €200hand, before controller | 8 | 3D-printed | 5 of 6 | Yes, with credit | 2,462 |
| GaiaHandStella-robot | Not documented | Not documented | 3D-printed | 3 of 6 | Yes | Not documented |
| Hands-on Tutorial: 3D Tactile Sensor Integration in Robotic Fingers for Smart ManipulationMilan Amighi, Constantin Scholz, and Bram Vanderborght (Brubotics – VUB & imec) | Not documented | Not documented | 3D-printed | 2 of 6 | Check the licenses first | 7 |
| Pinc'Openpollen-robotics | About €25standalone PincOpen gripper BOM | Not documented | 3D-printed | 3 of 6 | Yes, with credit | Not documented |
| SROIZenan Sheng, Linsheng Hou & Zhenghao Fei — Zhejiang University | Not documented | Not documented | 3D-printed | 3 of 6 | Check the licenses first | Not documented |
| SSG48 adaptive electric gripperSource-Robotics | Not documented | 1 | 3D-printed | 4 of 6 | Yes | 184 |
| UMI-3DPhysical-Intelligence-Laboratory | About CN¥5,000target total cost | Not documented | 3D-printed | 4 of 6 | Yes | 131 |
| YAM-UMIYosub Shin | About $79per gripper | Not documented | 3D-printed | 3 of 6 | Yes | Not documented |
| YUBI GripperFrontier Research Center, Toyota Motor Corporation | Not documented | 1 | Mixed | 3 of 6 | Yes, with credit | 188 |
Before you build
Check the documented mounting and which arms the maker has tested it with.
Servos, tendons and linkages trade strength, speed and repairability. The build guide usually shows the choice.
Check which controller drives the hand and whether its code and electronics are published.
Costs are the maker’s documented figures, with their original scope. Stars are recorded GitHub snapshots, never a quality score. Search the whole collection
