Hi everyone,
I’d like to share the Yeah Hand, an open-source, low-cost robotic hand with a ROS 2 driver.
Video (50 s): https://www.youtube.com/watch?v=UgLujs26Dso
Hardware
- 15 DOF, 5 tendon-driven actuators (Waveshare ST3215HS bus servos)
- Torque sensing on each finger, adaptive grasp
- 3D printed (TPU fingers and palm), ESP32 firmware, Bluetooth serial
- Mounting flanges for ISO 9409-1-50-4-M6 (UR, KUKA, Fanuc, Techman, Yaskawa), Agilex, ISO 9409-1-40-4-M6 and PCD-40 patterns
- License: CERN-OHL-S-2.0 (hardware), GPL-3.0 (software)
ROS 2 driver
- Repo: GitHub - opsobot/yeah_hand_ros: The ROS2 repo for the Yeah Hand · GitHub
- Tested on: ROS 2 Jazzy
- Per-servo torque limit as a runtime parameter, e.g.:
ros2 param set /yeah_hand_system load_limit index_servo_joint.load_limit 500
Links
- Hardware and firmware: GitHub - opsobot/yeah-hand: Open Source Robotic Hand for Robots and Humans · GitHub
- Build log: Yeah Robotic Hand (formerly Rebelia) | Hackaday.io
- Kits and assembled units: Yeah Hand from RobotGarage on Tindie
Feedback on the driver is very welcome: what interfaces would you want (ros2_control, MoveIt grasp config, joint state publishing)? Issues and PRs are open.
Vittorio