LEAP Hand Low-Cost Open-Source Dexterous Hand
Vendor: CMU 开源项目
Product: LEAP Hand
LEAP Hand is an open-source four-finger dexterous hand from Carnegie Mellon University (Kenneth Shaw, Ananye Agrawal, Deepak Pathak; RSS 2023): 16 DoF (4 per finger) at a total cost under $2,000, assemblable in under 3 hours using only common hand tools, and roughly 1/8 the cost of the Allegro Hand while achieving superior dexterity thanks to universal abduction-adduction kinematics. The project releases the URDF model, 3D CAD files, a tuned Isaac Gym / Isaac Lab simulation environment and Sim2Real training code, making it a popular low-cost platform for grasp and manipulation research, teleoperation and 3D-printable replication.
| dof | 16 |
| cost | 低于 2000 美元（约为 Allegro 的 1/8） |
| type | dexterous-hand |
| fingers | 4（每指 4 DOF） |
| actuation | 伺服电机驱动，通用外展-内收运动学 |
| reference | RSS 2023（Shaw, Agrawal, Pathak, CMU） |
| simulation | Isaac Gym / Isaac Lab 仿真环境 |
| open_source | URDF / 3D CAD / Sim2Real 训练代码全开源 |
| assembly_time | 约 3 小时（仅需常见手工工具） |