How to build Amazing Hand
8-DoF dexterous robot hand · Beginner
Build Pollen Robotics' Amazing Hand: 8 Feetech SCS0009 servos inside a 400 g four-finger printed hand, Python or Arduino control, about €128 in parts.
Mostly printed parts and plug-in servos. Good first build.
Our estimate, part-time
€128.28 per hand from the project's BOM sheet with the Waveshare driver, excluding the power supply
CC-BY-4.0
What is Amazing Hand?
Pollen Robotics designed the Amazing Hand to try humanoid hands on its Reachy 2 robot without the cost or cable runs of a forearm-driven hand. All eight actuators sit inside the hand itself, so nothing has to be routed down the arm.
There are four fingers, each with two phalanges and a parallel mechanism driven by two tiny Feetech SCS0009 servos. Driving both servos the same way curls the finger; driving them in opposite directions swings it side to side. Flexible printed shells cover most of the surfaces.
The hand weighs about 400 g and the BOM comes in around €128 with a Waveshare bus driver. The wrist plate matches Reachy 2's Orbita wrist but is easy to adapt.
Versions and forks
- Amazing Hand Enhanced swaps in Feetech STS3032 servos for more torque and full backdrivability.
Amazing Hand specifications
- DoF
- 8 (2 per finger)
- Fingers
- 4, two phalanges each
- Servos
- 8× Feetech SCS0009
- Mass
- ≈400 g
- Control
- Python + Waveshare driver, or Arduino + TTLinker
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Feetech SCS0009 micro servo | 8 | |
| Waveshare serial bus servo driver (or Feetech TTLinker + Arduino) | 1 | |
| M2 rods, ball joints, pins, bushings and washers | — | |
| Printed hand parts and flexible shells | — | ≈€15 of filament |
| 5 V external supply | — | Not in the BOM total |
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 €128 as a ballpark from the project. Start at the project repository.
Tools you'll need
- FDM printer (rigid and flexible filament)
- Small hex drivers
- Pliers for ball joints
Step-by-step build overview
Electronics & wiring overview
Eight servos daisy-chain on a single serial bus to either a Waveshare USB driver board or a Feetech TTLinker hanging off an Arduino. USB can't power them, so the external supply is required.
Software
Python and Arduino examples handle calibration and demos, and the repo includes MuJoCo models. Named positions in the Onshape document list matching servo angles for common poses.
Tips from the bench
- ☕ Keep the ID order exactly as documented, or calibration files won't match the fingers.
- ☕ A 5 V 2 A wall adapter is enough to start; get more current for sustained grasps.
Amazing Hand FAQ
How much does the Amazing Hand cost?
Pollen's BOM totals about €128 for one hand with the Waveshare driver, under the project's €200 target.
Can I build a left hand?
Yes. Fingers are identical, and only the parts marked L differ. Select the side in software.
Does it need Reachy 2?
No. It runs standalone from a PC, and the wrist interface can be adapted to other robots.
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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