OpenArm

An open-source, 7-DoF humanoid robot arm from Enactic, aimed at data collection for contact-rich tasks.

OpenArm is an open-source humanoid robot arm project built and maintained by the company Enactic, with the hardware CAD, firmware, control software, and simulation models all published openly. Each arm has 7 degrees of freedom, scaled to fit a person roughly 160–165 cm tall, using backdrivable, quasi-direct-drive joints, meaning joints a motor can be pushed by an external force, for greater safety on contact, running on a CAN-FD bus; the official specs give a rated payload of 4.1 kg and a peak of 6.0 kg. The project also includes a motor-free leader arm matching the follower's kinematics, used for leader-follower and bilateral teleoperation with force feedback. According to its GitHub documentation, a complete bimanual system costs about $6,500. It is positioned as an open-source dual-arm platform for labs doing imitation learning and VLA data collection, cheaper than an industrial cobot yet more capable than a small servo-driven arm. As of September 2026, the official documentation lists the current version as 2.0.

ExampleA lab builds two sets of OpenArm bimanual rigs, using the matching leader arms to teleoperate and collect laundry-folding demonstrations, then trains a diffusion policy to replay them on the follower arms.

Also called

OpenArm 2.0, Enactic OpenArm

Related

Open-source Hardware · 7-DoF Robot Arm · Dual-arm (Bimanual) Robot · Leader-Follower Teleoperation · Quasi-Direct Drive · Contact-rich Manipulation

Sources

OpenArm Project Overview
enactic/openarm - GitHub

As of

2026-09