How to build LEAP Hand v2 Advanced
17-DoF dexterous robot hand · Advanced
Build CMU's LEAP Hand v2 Advanced: 17 Dynamixel motors, TPU-over-PLA fingers, a powered two-joint palm and a ROS 2 Humble API.
Many actuators, custom wiring and real tuning work.
Our estimate, part-time
$4,079.88 on the parts page (Dec 2024) with printed palm and gear parts; aluminium palm parts add roughly $1,000
CC BY-NC-SA (version not stated) · non-commercial
What is LEAP Hand v2 Advanced?
LEAP Hand v2 Advanced is Kenneth Shaw and Deepak Pathak's follow-up to the original LEAP Hand at Carnegie Mellon. It tries to get the best of both soft and rigid hands: fingers are printed in one go from foaming TPU over a PLA skeleton, so they yield on contact but keep their shape under load.
The hand has 21 joints driven by 17 Dynamixel motors. MCP joints are rigid and strong, while each finger's PIP and DIP joints are linked by one tendon. Two powered articulations in the palm let it close tightly around tool handles.
Don't confuse it with LEAP Hand v2, a separate eight-motor design aimed at around $200–300.
LEAP Hand v2 Advanced specifications
- Motors
- 17 Dynamixel (6 XM430-W210, 6 XM430-W350, 5 XC330-T288)
- Joints
- 21
- Palm
- 2 powered articulations
- Fingers
- Multi-material TPU + PLA
- Power
- 12 V 20 A
- Software
- Ubuntu 22.04, ROS 2 Humble, Python
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Dynamixel XM430-W210-T | 6 | |
| Dynamixel XM430-W350-T | 6 | |
| Dynamixel XC330-T288-T | 5 | MCP side joints |
| HN12-I101 idler sets, FPX330-H101 screws, 180 mm cables | — | |
| U2D2 and Power Hub | 1 each | |
| 100 lb monofilament tendon line, 6701-2RS bearings, grease, threadlocker | — | |
| PLA Pro, dissolvable support, Filaflex Foamy TPU | — | |
| 12 V 20 A supply | — |
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 $4,079 as a ballpark from the project. Start at the project repository.
Tools you'll need
- Dual-nozzle printer (team uses a Snapmaker J1S)
- Hex keys
- Threadlocker
- Dynamixel Wizard
Step-by-step build overview
Electronics & wiring overview
All 17 motors run on one Dynamixel bus through a U2D2 and power hub fed from 12 V. Long 180 mm cables reach the MCP side motors.
Software
A ROS 2 node takes a 20-value pose array (from a glove or mocap) or a raw 17-motor command. PIP and DIP are tendon-coupled, so they can't be set independently. Re-run realign.py after replacing a tendon or if accuracy drifts.
Tips from the bench
- ☕ Manus gloves are the team's recommendation for making use of all 17 motors.
- ☕ Recalibrate whenever you notice tendon slip.
LEAP Hand v2 Advanced FAQ
How is v2 Advanced different from the original LEAP Hand?
It adds a thumb-style fifth digit, a powered palm, tendon-coupled PIP/DIP joints and soft printed fingers, for 17 motors versus 16.
What does it cost?
The December 2024 parts page totals about $4,080 before optional aluminium parts.
Which ROS version?
ROS 2 Humble on Ubuntu 22.04 is what the API is verified on.
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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