{"product_id":"znj-orca-hand-v1-open-source-anthropomorphic-dexterous-hand-low-cost-17-dof-robotic-hand-assembled-in-china","title":"ZNJ ORCA Hand V1 Open-Source Anthropomorphic Dexterous Hand Low-Cost 17-DOF Robotic Hand Assembled in China","description":"\u003cp\u003e\u003cb\u003eAttention:\u003c\/b\u003e\u003cbr\u003e* 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.\u003cbr\u003e* ORCA 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.\u003cbr\u003e* 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.\u003cbr\u003e* Please read the relevant open-source materials carefully before purchasing to confirm that the product meets your needs before placing an order.\u003cbr\u003e* For more information: \u003ca href=\"https:\/\/www.orcahand.com\/\"\u003ehttps:\/\/www.orcahand.com\/\u003c\/a\u003e\u003cbr\u003e\u003cbr\u003e\u003cb\u003eORCA Hand Configuration List:\u003c\/b\u003e\u003cbr\u003e\u003cu\u003eORCA Hand Fully Assembled Version (Assembled in China):\u003c\/u\u003e\u003cbr\u003e* Servo: XC330-T288-T x 16\u003cbr\u003e* Servo: XC430-T240BB-T x 1\u003cbr\u003e* Servo Starter Kit: U2D2+U2D2 PHB+12V 5A Power Supply x 1\u003cbr\u003e* USB Data Cable: USBA-microUSB x 1\u003cbr\u003e* Accessories: Cooling Fan\/Bearing\/Magnet\/Cylindrical Pin\/Capillary Tube\/Threaded Rod\/Screw\/Nut\/Transmission Belt\/Gasket\/Silicone Rubber\/Tendon Rope\u003cbr\u003e* Note: The entire finished dexterous hand\u003cbr\u003e\u003cbr\u003e\u003cb\u003eDescription:\u003c\/b\u003e\u003cbr\u003eGeneral-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. It can be assembled in under 8 hours and features a low-cost bill of materials. 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.\u003cbr\u003e\u003cbr\u003e\u003cb\u003eAdvantages:\u003c\/b\u003e\u003cbr\u003e* The ORCA v1 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.\u003cbr\u003e* 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.\u003cbr\u003e* 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.\u003cbr\u003e* Cost-Effective: The hand is centered around a 3D-printable design, with a total material cost under 2,000 CHF. 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.\u003cbr\u003e* Anthropomorphic: Designed to match the proportions and joint layout of the human hand, the ORCA v1 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.\u003cbr\u003e* Together, these features make the ORCA v1 hand a practical and versatile platform for hands-on exploration in robotics and manipulation-focused learning and development.\u003cbr\u003e\u003cbr\u003e\u003cb\u003eMore Features:\u003c\/b\u003e\u003cbr\u003eA Fully Open Platform!\u003cbr\u003e* The ORCA v1 is a fully open robotic hand, with all design files (STLs), core control code, and beginner-friendly documentation available atorca.ethz.ch\/docs. The platform will include essential resources such asstep-by-step assembly instructions, repair guides, and visual references to support easy replication and integration into research workflows. \u003cbr\u003e* Designed for accessibility, it relies on non-proprietary, widely available materials and includes a comprehensive, regularly updatedBill of Materials (ΒΟΜ), with direct sourcing links. Its low cost, simplicity, and modularity make it a practical tool for education and research labs, especially in the development and benchmarking of machine learning-based manipulation models. \u003cbr\u003e* By offering a shared, accessible and standardized hardware platform, ORCA fosters reproducibility and accelerates collaboration across institutions, enabling the robotics community to collectively build datasets, compare policies, and push the boundaries of dexterous manipulation. Released under permissive MIT and Creative Commons licenses for non-commercial use, the project actively encourages open contribution and knowledge sharing.\u003cbr\u003e\u003cbr\u003e7h+ Uninterrupted Imitation Learning\u003cbr\u003e* To highlight the reliability of the orca v1 hardware platform, we designed a continuous pick-and-place evaluation task. The robotic hand is required to pick up a cube from a table and place it on a sliding surface, which then causes the cube to fall back onto a random location on the table, thus resetting the experiment. We trained different policies via imitation learning and deployed the most successful policy for 7h 17min (which corresponds to approx. 2,000 grasping cycles) with no human intervention on the ORCA hand's hardware and minimal intervention in aiding in the pick-and-place task. Throughout the test, the policy maintained consistent performance, with no tendon slack or rupture, and the experiment was concluded not due to failure but because it sufficiently demonstrated the system's reliability, robustness and effectiveness in long-duration tasks. The orca hand's ability to reliably perform dexterous tasks without human intervention for multiple hours could potentially accelerate real-world RL applications for dexterous manipulation research.\u003cbr\u003e\u003cbr\u003eZero-shot Sim-To-Real Reinforcement Learning\u003cbr\u003e* We demonstrate the use of reinforcement learning in simulation to train the orca hand for dexterous manipulation tasks in the real world. Using an IsaacGymEnvs wrapper, we train 4,096 simulated orca hand models in parallel with an advantage actor-critic architecture to learn in-hand ball reorientation. After just one hour of training with domain randomization, we successfully deploy a robust policy from simulation to the physical orca hand, enabling it to reliably reorient a tennis ball along a specified rotation axis.\u003cbr\u003e\u003cbr\u003eReliability Experiment\u003cbr\u003e* To evaluate the reliability and robustness of the ORCA hand in long-duration tasks, we conducted an experiment in which we actuate the hand joints continuously for 2.5 hours. We attach a plush animal to the palm of the hand and have it grasp it with all fingers every four seconds. Moreover, to test the durability of the wrist joint, we flex and extend the wrist to 40◦ every 16 seconds. The hand reliably performs the same grasping movement for all 2,250 grasping cycles without breaking, motor shut- down, or excessive tendon slack buildup. Additionally, the maximum current used by each motor remains roughly the same during 2.5 hours of uninterrupted joint movement, which further demonstrates the robustness of the hand, the high repeatability of joint movement and its capacity for long-duration operation. In particular, the experiment was not terminated due to failure, but was concluded after 2.5 hours because it was deemed a sufficient demonstration of the system's reliability.\u003cbr\u003e\u003cbr\u003eFast \u0026amp; Easy Assembly\u003cbr\u003e* The orca hand is designed to be easily assembled and repaired. Given all the necessary mechanical parts, it takes one person less than 8 hours to assemble one entire orca v1 hand with integrated sensors, tensioned tendons, and soft skin. A lot of time has been invested to develop a comprehensive, easy-to-follow assembly guide atour dashboard, which includes detailed instructions, images, and videos for the full assembly process. Specially designed \"poppable\" joints simplify both the assembly and repair processes, as joints can safely dislocate under load instead of breaking, reducing downtime and extending the hardware's lifespan. Because all parts are 3D-printed, they can be easily replaced in case of damage. This makes the orca hand a great product for any robotics research lab, education group, or hobbyist who want to create and build projects with a reliable, cost-effective open-source robotic hand.\u003cbr\u003e\u003cbr\u003e\u003cb\u003eXC330-T288-T Joint Motor:\u003c\/b\u003e\u003cbr\u003e- The XC330 series is an upgraded version of the XL330 series. It uses metal gears and bearings to enhance durability.\u003cbr\u003e- Multiple operation modes: Speed Control, Position Control, Extended Position Control, PWM Control, Current Control, Current-based Position Control\u003cbr\u003e- Profile control for smooth motion planning\u003cbr\u003e- Input voltage: 6.5V~12V (recommended 11.1V)\u003cbr\u003e- Enhanced durability with metal gears and bearings\u003cbr\u003e- Supports RC protocol without additional conversion devices\u003cbr\u003e- Reduced current for energy efficiency\u003cbr\u003e\u003cbr\u003e\u003cb\u003eXC330-T288-T Specifications:\u003c\/b\u003e\u003cbr\u003e- Product: XC330-T288-T\u003cbr\u003e- Motor: Coreless DC Motor\u003cbr\u003e- Resolution: 4096 [pulse\/rev]\u003cbr\u003e- Operation Mode: Current Control Mode, Speed Control Mode, Position Control Mode (0 ~ 360 [°]), Extended Position Control Mode (Multi-turn), Current-based Position Control Mode, PWM Control Mode (Voltage Control Mode)\u003cbr\u003e- Weight: 23 [g]\u003cbr\u003e- Dimensions (W x H x D): 20.0 x 34.0 x 26.0 [mm]\u003cbr\u003e- Reduction Ratio: 288.35:1\u003cbr\u003e- Stall Torque: 0.76 [N.m] (at 9.0 [V], 0.61 [A]), 0.92 [N.m] (at 11.1 [V], 0.80 [A]), 1.00 [N.m] (at 12.0 [V], 0.88 [A])\u003cbr\u003e- No-load Speed: 52 [rev\/min] (at 9.0 [V]), 65 [rev\/min] (at 11.1 [V]), 71 [rev\/min] (at 12.0 [V])\u003cbr\u003e- Operating Temperature: -5 ~ +70 [°C]\u003cbr\u003e- Input Voltage: 6.5 ~ 12.0 [V] (Recommended: 11.1 [V])\u003cbr\u003e- Housing Material: Engineering Plastic\u003cbr\u003e- Gear Material: All-metal Gear\u003cbr\u003e- Standby Current: 17 [mA]\u003cbr\u003e\u003cbr\u003e\u003cb\u003eXC430-T240BB-T Joint Motor:\u003c\/b\u003e\u003cbr\u003eXC430 is a high-performance version of XL430 (entry-level for DYNAMIXEL), suitable for robots requiring higher torque. It uses metal gears for enhanced durability.\u003cbr\u003e1. Multiple operation modes (Speed Control, Position Control, Extended Position Control, PWM Control)\u003cbr\u003e2. Profile control for smooth motion planning\u003cbr\u003e3. Hollow rear cover design to minimize cable stress (3-channel wiring)\u003cbr\u003e4. Easy-to-assemble structure for simple and convenient use\u003cbr\u003e5. Reduced current for energy efficiency\u003cbr\u003e\u003cbr\u003e\u003cb\u003eXC430-T240BB-T Specifications:\u003c\/b\u003e\u003cbr\u003e* Product: XC430-T240BB-T\u003cbr\u003e* Motor: Coreless Motor\u003cbr\u003e* Resolution: 4096 [pulse\/rev]\u003cbr\u003e* Operation Mode: Speed Control Mode, Position Control Mode (0 ~ 360 [°]), Extended Position Control Mode (Multi-turn), PWM Control Mode (Voltage Control Mode)\u003cbr\u003e* Weight: 65 [g]\u003cbr\u003e* Dimensions (W x H x D): 28.5 x 46.5 x 34 [mm]\u003cbr\u003e* Reduction Ratio: 245.22:1\u003cbr\u003e* Stall Torque: 1.4 [N.m] (at 9.0 [V], 1.1 [A]), 1.7 [N.m] (at 11.1 [V], 1.3 [A]), 1.9 [N.m] (at 12.0 [V], 1.4 [A])\u003cbr\u003e* No-load Speed: 52 [rev\/min] (at 9.0 [V]), 65 [rev\/min] (at 11.1 [V]), 70 [rev\/min] (at 12.0 [V])\u003cbr\u003e* Operating Temperature: -5 ~ +80 [°C]\u003cbr\u003e* Input Voltage: 6.5 ~ 14.8 [V] (Recommended: 12.0 [V])\u003cbr\u003e* Housing Material: Engineering Plastic\u003cbr\u003e* Gear Material: All-metal Gear\u003cbr\u003e* Standby Current: 46 [mA]\u003cbr\u003e\u003cbr\u003e\u003cb\u003ePacking List:\u003c\/b\u003e\u003cbr\u003e* 1 x Robotic Hand\u003cbr\u003e\u003cbr\u003e\u003cb\u003ePackaging Details:\u003c\/b\u003e\u003cbr\u003e* Package Weight: 4kg\u003cbr\u003e\u003cbr\u003e\u003cb\u003eFAQ:\u003c\/b\u003e\u003cbr\u003e1. Does the current version of ORCA Hand include sensors?\u003cbr\u003e* No. The current version of the dexterous hand does not yet include sensors. We are finalizing the development of connectors, cables, and communication protocols required for sensor integration.\u003cbr\u003e\u003cbr\u003e2. Can sensors be upgraded in the future?\u003cbr\u003e* Yes! We offer sensor upgrade services.\u003cbr\u003e\u003cbr\u003e3. When will sensors be available?\u003cbr\u003e* Basic Force Sensing: Binary force sensors providing simple on\/off force detection have been available since late July–early August 2024.\u003cbr\u003e* High-Precision Force Feedback: Advanced sensors with precise force measurement and high resolution were expected to launch by the end of 2025.\u003cbr\u003e\u003cbr\u003e4. Can ORCA Hand be mounted on a robotic arm?\u003cbr\u003e* Absolutely! ORCA Hand features a modular adapter system compatible with nearly all robotic arms on the market. For your specific robotic arm model, we will provide a dedicated adapter to ensure plug-and-play functionality.\u003cbr\u003e\u003cbr\u003e\u003cb\u003e1. Product Status and Responsibility\u003c\/b\u003e\u003cbr\u003e1.1. Disclaimer\u003cbr\u003e* The product is in early development and does not provide any quality or reliability guarantees.\u003cbr\u003e* Use at your own risk, including potential functional deficiencies or safety hazards.\u003cbr\u003e\u003cbr\u003e1.2. Limitation of Liability\u003cbr\u003e* ORCA Hand does not assume liability for direct or indirect loss caused by the use of the product (such as personal injury, data loss, or equipment damage).\u003cbr\u003e\u003cbr\u003e\u003cb\u003e2. Core Terms of the License Agreement\u003c\/b\u003e\u003cbr\u003eA. CAD Files and Assembly Manual (Non-Commercial Use)\u003cbr\u003e✅ Permitted: Personal\/educational\/research use; Non-commercial modifications and sharing (must indicate source); Derivative works must adopt the same license (BY-NC-SA).\u003cbr\u003e❌ Prohibited: Any form of commercial use (including selling derivative works or physical products); reverse engineering for commercial benefit.\u003cbr\u003e\u003cbr\u003eB. Purchased Products or Kits (Commercial License)\u003cbr\u003e✅ Permitted: Using the physical product in commercial scenarios (e.g., research, product integration).\u003cbr\u003e❌ Prohibited: Reverse engineering, disassembling, or duplicating the product; producing products based on purchased components; transferring the commercial license (license bound to the purchase order).\u003cbr\u003e⚠ The product contains patented technology. Unauthorized reproduction may constitute infringement.\u003cbr\u003e\u003cbr\u003eC. Commercial Use Restrictions\u003cbr\u003e* Only hardware purchased from the official source has commercial usage rights.\u003cbr\u003e* Self-printed CAD files\/manuals do not include commercial rights.\u003cbr\u003e* Using downloaded CAD files or manuals in a commercial context is prohibited.\u003cbr\u003e\u003cbr\u003e\u003cb\u003e3. Third-Party Integration\u003c\/b\u003e\u003cbr\u003e* When integrating with external equipment (robotic arms, sensors, VR, etc.), the user assumes the risk.\u003cbr\u003e* ORCA Hand does not guarantee compatibility, functionality, or safety.\u003cbr\u003eThe user is responsible for calibration, installation, and safe operation.\u003cbr\u003e\u003cbr\u003e\u003cb\u003e4. Breach and Enforcement\u003c\/b\u003e\u003cbr\u003e* Unauthorized commercial use, reverse engineering, or violating distribution rules may lead to legal liability.\u003cbr\u003e* Derivative works automatically inherit the original license terms and cannot be altered.\u003cbr\u003e\u003cbr\u003e\u003cimg style=\"width: 750px;\" src=\"https:\/\/www.comseek.com\/image\/catalog\/102135\/102136-01.jpg\"\u003e\u003c\/p\u003e\u003cp\u003e\u003cimg style=\"width: 800.167px; height: 820.171px;\" src=\"https:\/\/www.comseek.com\/image\/catalog\/102135\/102136-02.jpg\"\u003e\u003cbr\u003e\u003c\/p\u003e","brand":"Thanksbuyer Online,SDR Radio, Testers and Measurement devices, Astronomy products, Audio Amplifer and Decoders","offers":[{"title":"Default Title","offer_id":41029054267441,"sku":"102136","price":5515.14,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0578\/4790\/6353\/files\/1779156051-1.jpg?v=1780386991","url":"https:\/\/www.thanksbuyer.com\/ru\/products\/znj-orca-hand-v1-open-source-anthropomorphic-dexterous-hand-low-cost-17-dof-robotic-hand-assembled-in-china","provider":"Thanksbuyer Online,SDR Radio, Testers and Measurement devices, Astronomy products,  Audio Amplifer and Decoders","version":"1.0","type":"link"}