How to build DexHand V1.0
19-DoF dexterous robot hand · Advanced
Build The Robot Studio's DexHand V1.0: a printed tendon-driven hand and forearm with 16 Emax micro servos, Feetech wrist servos and an Arduino Mega.
Many actuators, custom wiring and real tuning work.
Our estimate, part-time
≈$300 in components per the README, excluding filament
CC-BY-NC-SA-4.0 · non-commercial
What is DexHand V1.0?
DexHand V1.0 is a printed humanoid hand and forearm from The Robot Studio, the same group behind HOPEJr. Sixteen slim Emax micro servos in the forearm pull tendons to move the fingers and thumb, and serial-bus Feetech servos flex the wrist.
The forearm is self-contained: it houses the electronics, a pair of 18650 cells and a latching power switch, so the hand can run on its own and even spin continuously around its axis for jobs like scrubbing.
The designer puts the component cost at around $300 on top of printing. Files are CC BY-NC-SA 4.0, so builds for personal and research use are fine but selling them isn't.
DexHand V1.0 specifications
- Finger servos
- 16× Emax ES33xx micro servos
- Wrist
- 2× Feetech SCS2332 (flex/extend) + optional SCS15 rotation
- Controller
- Arduino Mega 2560 Pro
- Battery
- 2× 18650 (8.4 V max)
- 0.6 mm nozzle, 0.4 mm layers; PLA, PETG or CF nylon
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Emax ES3352 (or ES3301/3302/3351) micro servo | 16 | ≈$6.60–12 each |
| Feetech SCS2332 serial servo | 2 | ≈$35 each |
| Feetech SCS15 servo | 1 | Optional wrist rotation |
| 6×10×3 ball bearings | 50 | |
| Sufix 832 braided line (80 lb) for tendons | — | |
| 2 mm steel pins, M2 screws and inserts, M3×70 bolts | — | |
| Arduino Mega 2560 Pro and two 18650 cells | — |
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 $300 as a ballpark from the project. Start at the project repository.
Tools you'll need
- FDM printer with 0.6 mm nozzle
- Fine sandpaper or diamond files
- Soldering iron
- Small drivers
Step-by-step build overview
Electronics & wiring overview
The schematic PDF shows the Arduino Mega driving the Emax servos by PWM and the Feetech wrist servos over a serial bus, with SBUS input for RC-style control. Power comes from two 18650 cells.
Software
The project ships its own firmware and control code. See the repository for setup.
The repo ships Arduino firmware with SBUS and serial-servo drivers, so you can drive the hand from an RC transmitter or a serial link.
Tips from the bench
- ☕ Buy a couple of spare micro servos; at 16 per hand, one dud is likely.
- ☕ Tension tendons with the fingers fully open.
DexHand V1.0 FAQ
How much does DexHand cost to build?
The designer estimates about $300 in components, with the 16 micro servos the biggest line.
Can it run without a robot arm?
Yes. The forearm holds the battery and electronics and works as a stand-alone unit.
What filament works?
PLA, PETG and CF nylon were tested. ABS isn't recommended for the large pieces.
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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