GaiaHand
A five-fingered dexterous hand built around modular joint modules and 3D-printed structural parts for robotics research and development.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
Not documented
No cost in the reviewed sources.
Can I sell what I build?
YesCommercial use OK
Hardware MIT · Software MIT. Licensing source
What’s open?
3 of 6CAD: AvailableBOM: Not documentedPCB: AvailableCode: AvailableSim: Not documentedGuide: Not documented
BOM, sim, guide not documented. All six files
Is it maintained?
Not documented
No activity snapshot yet. Activity
01 / Under the shell
The specifications.
Hardware, build and software on one sheet. Every fact links to where we found it.
GaiaHand is an open-source five-fingered dexterous hand with independently actuated modular joint modules. Each finger is constructed by connecting modules in series. Its listed structural materials are 3D-printed parts and metal components, and the README gives 15 degrees of freedom, with 3 per finger. The project presents it as a hardware platform for robotics research and development.
Hardware
- Actuators
- Not documented Documentation
- Build
- 3D-printed · PLA+/PETG/ABS · metal components Documentation
- Degrees of freedom
- 15 (3 per finger) README
- Joint actuation
- BLDC motors with gear reducers README
- Communication interface
- Serial README
Building it
02 / The files behind the robot
What’s open.
Six parts of the build, each checked separately. Gaps stay visible.
| Part | Status | What’s there | License | Source |
|---|---|---|---|---|
| CAD | Available | Hardware CAD models in STEP and STL formats. | Not documented | gaiahand.STEP |
| Bill of materials | Not documented | Not documented | Not documented | No source found |
| Electronics | Available | PCB design files and schematics. | Not documented | PCB/ |
| Code | Available | Python SDK and host computer software. | MIT | GaiahandSDK/ |
| Simulation model | Not documented | Not documented | Not documented | No source found |
| Assembly guide | Not documented | Not documented | Not documented | No source found |
03 / Know before you build
Can you sell it?
YesCommercial use OK
The whole repository, design files included, is MIT. You can build, modify and sell robots based on it, as long as you keep the license and copyright notices.
- Hardware
- MIT
- Software
- MIT
04 / The upstream project
Is it maintained?
Not documentedRepository activity is not documented
Active: activity within 90 days of the snapshot. Quiet: within a year. Dormant: longer.
05 / Parts & kits
A head start.
Maker-listed sellers only. No affiliate links or paid placement.
MAKER’S COST
Not documented
No cost in the reviewed sources.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other hands & grippers.
Other hands & grippers in the directory, most recently active first. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| GaiaHandThis robotStella-robot | Not documented | 3 of 6 | YesHW MIT · SW MIT | Python | Not documented | — |
| SSG48 adaptive electric gripperSource-Robotics | Not documented | 4 of 6 | YesHW Apache 2.0 · SW Apache-2.0 | ROS 2Python | ActiveSep 27, 2026 | 184 |
| YUBI GripperFrontier Research Center, Toyota Motor Corporation | Not documented | 3 of 6 | Yes, with creditHW CERN Open Hardware Licence Version 2 - Weakly Reciprocal (CERN-OHL-W v2) · SW CERN-OHL-W-2.0 | Not documented | ActiveSep 21, 2026 | 188 |
| Aero Hand OpenChestnut Robotics | $314complete kit | 6 of 6 | NoHW CC BY-NC-SA 4.0 · SW Apache-2.0 | ROS 2MuJoCoPython | ActiveSep 15, 2026 | 1,054 |
| This robotGaiaHand | SSG48 adaptive electric gripper | YUBI Gripper |
|---|---|---|
| Cost | ||
| Not documented | Not documented | Not documented |
| Can I sell it? | ||
| Yes | Yes | Yes, with credit |
| Open files | ||
| 3 of 6 | 4 of 6 | 3 of 6 |
| Runs on | ||
| Python | ROS 2, Python | Not documented |
| Maintained | ||
| Not documented | ActiveSep 27, 2026 | ActiveSep 21, 2026 |
Upkeep is measured against each robot’s own snapshot. Costs keep the maker’s scope, so check what each figure covers.
See them in the table07 / Follow the evidence
Open books.
Repository files are pinned to commit eb61f95. Websites and papers are listed with their review dates.
- 01README.md at eb61f95Reviewed Oct 30, 2026
- 02LICENSE at eb61f95Reviewed Oct 30, 2026