YAM-UMI
A hand-worn, two-finger gripper with printed parts and coupled jaws, used to collect demonstrations for the YAM linear gripper.
Project documentation
Before you build
Five answers, each linked to its source
What does it cost?
About $79per gripper
Listed as the per-gripper total. README.md
Can I sell what I build?
YesCommercial use OK
Hardware MIT · Software MIT. Licensing source
What’s open?
3 of 6CAD: AvailableBOM: AvailablePCB: Off-the-shelf partCode: Not documentedSim: Not documentedGuide: Available
Code, sim not documented · PCB off-the-shelf. All six files
What does it run on?
Not documented
Simulation: Not documented. Software
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.
YAM-UMI is a hand-worn, two-finger gripper for collecting demonstrations for the I2RT YAM arm's linear gripper. Its mechanism uses two linear rails and a central pinion to couple the jaws. Fiducial markers provide aperture sensing, while a wrist fisheye camera records the grasping area.
Hardware
- Actuators
- Not documented Documentation
- Build
- 3D-printed · printable parts in the repository Documentation
Building it
- Reference print material
- PETG README
Software & simulation
- Runs on
- Not documented
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 | STEP and STL files for the gripper parts. | Not documented | STEP/ |
| Bill of materials | Available | Bill of materials for one YAM-UMI gripper. | Not documented | README.md |
| Electronics | Off-the-shelf part | The wrist camera is an Arducam fisheye USB camera. | — | README.md |
| Code | Not documented | Not documented | Not documented | No source found |
| Simulation model | Not documented | Not documented | Not documented | No source found |
| Assembly guide | Available | Assembly guide for the gripper. | Not documented | assembly.md |
03 / Know before you build
Can you sell it?
YesCommercial use OK
The hardware design is MIT. You can build, modify and sell robots based on it, as long as you keep the license 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.
Kit availability is not documented in our reviewed sources.
06 / Side by side
Compare with other hands & grippers.
The three hands & grippers with the closest documented maker’s cost. Same sources, same rules.
| Robot | Cost | Open files | Can I sell it? | Runs on | Maintained | Stars |
|---|---|---|---|---|---|---|
| YAM-UMIThis robotYosub Shin | About $79per gripper | 3 of 6 | YesHW MIT · SW MIT | Not documented | Not documented | — |
| Pinc'Openpollen-robotics | About €25standalone PincOpen gripper BOM | 3 of 6 | Yes, with creditHW CC BY-SA 4.0 · SW CC-BY-SA-4.0 | LeRobotPython | Not documented | — |
| AmazingHandPollen Robotics | Under €200hand, before controller | 5 of 6 | Yes, with creditHW CC BY 4.0 · SW Apache-2.0 | PythonArduinoMuJoCo | QuietApr 3, 2026 | 2,462 |
| 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 robotYAM-UMI | Pinc'Open | AmazingHand |
|---|---|---|
| Cost | ||
| About $79 | About €25 | Under €200 |
| Can I sell it? | ||
| Yes | Yes, with credit | Yes, with credit |
| Open files | ||
| 3 of 6 | 3 of 6 | 5 of 6 |
| Runs on | ||
| Not documented | LeRobot, Python | Python, Arduino, MuJoCo |
| Maintained | ||
| Not documented | Not documented | QuietApr 3, 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 58a0867. Websites and papers are listed with their review dates.
- 01README.md at 58a0867Reviewed Oct 30, 2026
- 02LICENSE at 58a0867Reviewed Oct 30, 2026
- 03bom/README.md at 58a0867Reviewed Oct 30, 2026
- 04docs/assembly.md at 58a0867Reviewed Oct 30, 2026