LEAP Hand

Common

An open-source, low-cost, 16-DOF anthropomorphic dexterous hand from Carnegie Mellon.

LEAP Hand was introduced by Kenneth Shaw, Ananye Agarwal, and Deepak Pathak at Carnegie Mellon University, presented at RSS 2023. It's a four-fingered, humanlike hand with 16 degrees of freedom, with each joint driven directly by Dynamixel servo motors; all parts are off-the-shelf or 3D-printed, and the paper reports it can be built for about $2,000 in around 4 hours — roughly an eighth the cost of the Allegro Hand — with a knuckle design meant to stay dexterous across the full range of finger poses. The hardware, simulation model, and software are all open source, making it easy for researchers to use for teleoperation, learning from human videos, and sim-to-real transfer. The team later released a v2 series, including a version with a hybrid rigid-soft shell.

ExampleResearchers have used a webcam to estimate human hand pose and retarget it onto a LEAP Hand for teleoperated data collection.

Also called: Low-Cost, Efficient, Anthropomorphic Hand, LEAP Hand v2
Related: Dexterous Hand · Allegro Hand · ROBOTIS Dynamixel Servo · Open-Source Hardware (OSHW) · Motion Retargeting · CMU Robotics Institute
Sources: LEAP Hand: Low-Cost, Efficient, and Anthropomorphic Hand for Robot Learning (arXiv 2309.06440)
LEAP Hand V2 Advanced project page
As of: 2025-06