How to build Amazing Hand Enhanced
8-DoF dexterous robot hand · Beginner
Build the Amazing Hand Enhanced: eight Feetech STS3032 servos for more torque and backdrivability in Pollen's four-finger printed hand, about €287.
Mostly printed parts and plug-in servos. Good first build.
Our estimate, part-time
€287 per hand from the Enhanced BOM sheet; 6 V supply listed without a price
CC-BY-4.0
What is Amazing Hand Enhanced?
Amazing Hand Enhanced is Pollen Robotics' revision of its four-finger hand, published on a separate branch of the AmazingHand repository. The headline change is the motors: eight Feetech STS3032 servos replace the original SCS0009s.
According to the README, the new servos give the hand full backdrivability, better accuracy, and more speed and torque in the same envelope. Pollen redesigned the finger frame as one piece, added a printed servo horn, and reshaped the hand plate, wrist interface and shells to fit the thicker motors. Proximal and distal phalanges, gimbals, links and finger shells carry over unchanged.
The BOM sheet totals about €287 per hand including a Waveshare bus driver, and the root README puts the Enhanced hand under €350.
Amazing Hand Enhanced specifications
- DoF
- 8 (2 per finger)
- Servos
- 8× Feetech STS3032
- Driver
- Waveshare serial bus servo board
- Assembly guide
- 33-page PDF on the branch
- License
- CC BY 4.0 hardware, Apache 2.0 code
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Feetech STS3032 servo | 8 | €26.99 each in the BOM |
| M2 ball joint, 19 mm | 16 | |
| M2 threaded rod, 300 mm | 1 | Cut into finger rods |
| Pins D2×10 and D2×16 | 8 each | |
| GFM 0608-04 bushings | 8 | |
| 2.5 mm plastic screws and M2.5 large washers | — | |
| Waveshare serial bus servo driver | 1 | |
| Printed parts | — | ≈€15 |
Where's the full bill of materials?
The full BOM, with exact quantities and vendors, lives in the project's own files. Prices change often, so treat €287 as a ballpark from the project. Start at the project repository.
Tools you'll need
- FDM printer
- Hacksaw or rod cutter for M2 rod
- Small hex and Phillips drivers
Step-by-step build overview
Electronics & wiring overview
Same topology as the original: eight servos on one serial bus to the Waveshare board, powered from an external supply. The STS3032s want a 6 V supply rather than the original's 5 V.
Software
Python calibration and demo scripts live on the Enhanced branch. A MuJoCo model sits on a separate demo branch; the README lists a more advanced demo as still to come.
Tips from the bench
- ☕ Don't mix original and Enhanced finger frames; the servo pockets differ.
- ☕ Backdrivable servos let you pose the fingers by hand to record named positions.
Amazing Hand Enhanced FAQ
What's different from the original Amazing Hand?
STS3032 servos instead of SCS0009s, a one-piece finger frame, a printed horn and a reworked palm and wrist to fit the bigger motors.
How much does it cost?
About €287 per hand by Pollen's BOM, versus roughly €128 for the original.
Is it backdrivable?
Yes. That's one of the main reasons for the servo change, according to the README.
Sources
Written by Bots n' Beans from the project's own documentation. Check the sources for the latest revision before you buy parts.
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