# Yeah Hand: open-source 15-DOF robotic hand with ROS 2 driver

**URL:** <https://discourse.openrobotics.org/t/yeah-hand-open-source-15-dof-robotic-hand-with-ros-2-driver/58561>\
**Category:** Projects\
**Tags:** ros2, hardware, manipulation\
**Created:** [October 3, 2026, 8:49pm UTC](https://discourse.openrobotics.org/t/yeah-hand-open-source-15-dof-robotic-hand-with-ros-2-driver/58561 "2026-10-03T20:49:58Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![vittorio.lumare](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/vittorio.lumare/32/35676_2.png) [@vittorio.lumare](https://discourse.openrobotics.org/u/vittorio.lumare)\
**Post date:** [October 3, 2026, 8:49pm UTC](https://discourse.openrobotics.org/t/yeah-hand-open-source-15-dof-robotic-hand-with-ros-2-driver/58561/1 "2026-10-03T20:49:58Z")

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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](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](https://github.com/opsobot/yeah_hand_ros)
- 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](https://github.com/opsobot/yeah-hand)
- Build log: [Yeah Robotic Hand (formerly Rebelia) | Hackaday.io](https://hackaday.io/project/204373-yeah-robotic-hand-formerly-rebelia)
- Kits and assembled units: [Yeah Hand from RobotGarage on Tindie](https://www.tindie.com/products/robotgarage/yeah-hand/)

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