Contains all 3D printable parts for a version of the Yale Openhand M2 including Optoforce 3D force sensors and bearings, and requiring no additional rubber surface manufacturing. The two degree of freedoms can be used for active perception and manipulation with tactile feedback.

See the demo video here.

Refer to the Finger Fabrication Guide of the Yale Openhand M2 for details on the assembly.

This hand is driven by wire. We used fishing line made of Dyneema.　Refer to the manual(p.15) for the position of the wire.

The base uses Dynamixel MX-28AT motors or HiTEC HS5585 servo motors. An Arduino controller case that can be attached to the base is included in the STL files.