Note:
- Please leave a message for the left/right hand (optional) you need after payment.
- It is unassembled, you need to assemble it by yourself.
Introduction:
- General-purpose robots must possess human-like dexterity and agility to match the versatility of humans. A human-like form factor further enables leveraging the wealth of data available from human hand interactions. However, the bottleneck in dexterous manipulation lies not only in software but arguably even more in hardware. Robotic hands matching human capabilities are often prohibitively expensive, bulky, or require enterprise-level maintenance, making them inaccessible for broader research and applications. What if the research community could get started with reliable dexterous hands within a day? We present the ORCA hand, a 17-DoF tendon-driven robotic hand with fully integrated tactile sensors that can be assembled in under 8 hours. We showcase design features such as popping joints, auto-calibration, and tensioning systems that significantly reduce complexity while increasing reliability, accuracy, and robustness. We benchmark the ORCA hand across a variety of tasks, ranging from teleoperation and imitation learning to zero-shot sim-to-real reinforcement learning. Furthermore, we demonstrate that our hand is capable of withstanding over 10k cycles, or approximately 20 hours of continuous operation. CAD files and documentation can be found on our dashboard.
The ORCA V2 Hand:
- The ORCA V2 hand is a tendon-driven, anthropomorphic robotic platform designed to closely replicate the structure and movement of a human hand. It features 17 degrees of freedom -- 16 in the fingers and 1 in the wrist -- enabling a wide range of dexterous manipulation tasks. Its design balances functionality, reliability, and accessibility.
- Open-Source: All design files (STLs), control software, material lists, and step-by-step assembly instructions (including videos) are publicly available on our dashboard. The project is built to encourage replication, customization, and experimentation by researchers, educators, and hobbyists.
- Reliable: The ORCA hand incorporates several design choices focused on robustness and longevity. Joints are engineered to safely dislocate under excess load rather than break, which protects components and simplifies repairs. Additionally, auto-calibration, low-friction tendon routing through the center of rotation of each joint, and a modular layout contribute to consistent performance and long-term usability.
- Cost-Effective: The hand is centered around a 3D-printable design. All structural components can be printed using a standard 3D printer, and the remaining off-the-shelf parts are widely available and easy to source online, ensuring accessibility for a wide range of users.
- Anthropomorphic: Designed to match the proportions and joint layout of the human hand, the ORCA V2 includes an opposable thumb and an actuated wrist. It mirrors human joint configurations, including MCP, PIP, and ABD joints, enabling it to interact with everyday tools and objects originally designed for human use, and to perform a broad spectrum of manipulation tasks with human-like agility. This anthropomorphic structure also significantly simplifies teleoperation/retargeting and facilitates a more straightforward training on human hand data.
- Together, these features make the ORCA v2 hand a practical and versatile platform for hands-on exploration in robotics and manipulation-focused learning and development.
Packing List (Depending on Selected Kit Version):
- 1 x ORCA V2 Driver Kit
OR
- 1 x ORCA V2 Official Kit (Feetech Servo)
