ZNJ Leap Hand Low-Cost Anthropomorphic Hand Dexterous Robotic Hand XL330 DIY Kit (Left Hand)

Description:
Dexterous manipulation has been a long-standing challenge in robotics. While machine learning techniques have shown some promise, results have largely been currently limited to simulation. This can be mostly attributed to the lack of suitable hardware. In this paper, we present LEAP Hand, a low-cost dexterous and anthropomorphic hand for machine learning research. In contrast to previous hands, LEAP Hand has a novel kinematic structure that allows maximal dexterity regardless of finger pose. LEAP Hand is low-cost and can be assembled in 4 hours from readily available parts. It is capable of consistently exerting large torques over long durations of time. We show that LEAP Hand can be used to perform several manipulation tasks in the real world—from visual teleoperation to learning from passive video data and sim2real.

Features:
* Kinematics and Dexterity: LEAP hand demonstrates side to side dexterity in both the finger up and finger down configuration. This is thanks to its universal abduction-adduction mechanism. LEAP Hand improves the opposition of the thumb and fingers, which means it can grasp objects more easily.
* Low Cost: LEAP Hand is low-cost and can be assembled in a few hours using a 3D printer, off-the-shelf parts, and common hand tools.
* Strength: LEAP Hand is one of the strongest robotic hands available today.
* Robustness: LEAP Hand can accurately complete repeated motions without overheating 
Human-like Versatility: LEAP Hand can grasp a wide variety of objects easily.
* Learning from Humans: LEAP Hand can learn to use joint-to-joint mappings or energy functions from human videos.
* Sim2Real Control: The URDF of LEAP Hand is highly accurate for all robotic hands and can be used in many RL frameworks.

Optional XL330-M288-T Servo (for XL330 Version):
* Model Name: XL330-M288-T
* Microcontroller: CORTEX-M0+ (64 [MHz], 32Bit) for ARM
* Position Sensor: Non-contact Absolute Encoder (12Bit, 360 [°])
* Motor: Cored Motor
* Baud Rate: 9,600 [bps] ~ 4 [Mbps]
* Control Algorithm: PID control
* Resolution: 4096 [pulse/rev]
* Reduction Ratio: 288.4:1
* Stall Torque: 0.52 [N.m] (at 5.0 [V], 1.47 [A])
* No-load Speed: 103 [rev/min] (at 5.0 [V])

Optional XC330-M288-T Servo (for XC330 Version):
* Model Name: XC330-M288-T
* Microcontroller: CORTEX-M0+ (64 [MHz], 32Bit) for ARM
* Position Sensor: Non-contact Absolute Encoder (12Bit, 360 [°])
* Motor: Coreless DC Motor
* Baud Rate: 9,600 [bps] ~ 4 [Mbps]
* Control Algorithm: PID control
* Resolution: 4096 [pulse/rev]
* Reduction Ratio: 288.35:1
* Stall Torque: 0.93 [N.m] (at 5.0 [V], 1.80 [A])
* No-load Speed: 81 [rev/min] (at 5.0 [V])

Packing List:
* 1 x Set of Robotic Hand

Packaging Details:
* Package weight: 1kg

Attention:
* This product is an open-source project. Our company mainly provides assembly services for the dexterous hand hardware, ensuring the hardware is intact before shipment and providing technical support related to the hardware.
* Leap hand has simulation functions (refer to open-source materials). Other matters, such as connection and communication with the robotic arm, code verification, etc., need to be completed by the user.
* Open-source projects have no warranty. For issues caused by long-term use, such as joint wear, structural component damage, connecting wire detachment, rubber aging, etc., the user needs to purchase corresponding products for replacement or repair.
* Please read the relevant open-source materials carefully before purchasing to confirm that the product meets your needs before placing an order.
* This product is an open-source product. We provide technical support for the hardware part. The subsequent data learning, development and application of the product need to be researched and used by customers themselves. Thank you for your understanding!
* For more information: https://v1.leaphand.com/

Optional Versions:
* XL330 Fully Assembled (Left Hand)
* XL330 Fully Assembled (Right Hand)
* XL330 DIY Kit (Left Hand)
* XL330 DIY Kit (Right Hand)
* XC330 Fully Assembled (Left Hand)
* XC330 Fully Assembled (Right Hand)
* XC330 DIY Kit (Left Hand)
* XC330 DIY Kit (Right Hand)