How to build LEAP Hand
16-DoF dexterous robot hand · Advanced
Build CMU's LEAP Hand: 16 Dynamixel XC330 servos, printed palm and fingers, under three hours to assemble, Python, C++ and ROS 2 APIs.
Many actuators, custom wiring and real tuning work.
Based on the project's guide, part-time
$1,771.74 on the parts page (Aug 2023) for the regular hand; the Lite version is far cheaper
CC BY-NC-SA (CAD), MIT (code) · non-commercial
What is LEAP Hand?
LEAP Hand (Low-cost, Efficient, Anthropomorphic, for robot learning) was introduced at RSS 2023 by Kenneth Shaw, Ananye Agarwal and Deepak Pathak at Carnegie Mellon. It has four fingers and 16 DoF, each joint driven directly by a Dynamixel servo.
Its signature is the MCP joint, which lets each finger swing sideways in both palm-up and palm-down poses, something many low-cost hands can't do. The team says the hand costs under $2,000, assembles in under three hours with common tools, and repeats motions without overheating.
It has become one of the most common hands in learning research, with gloves, Apple Vision Pro teleop, Isaac Gym and Isaac Lab environments, and MuJoCo Playground support.
Versions and forks
- LEAP Hand v2 Advanced: 17 motors, soft-rigid fingers and a powered palm.
- LEAP Hand v2: a simpler 8-motor version aimed at $200–300.
LEAP Hand specifications
- DoF
- 16 (4 fingers × 4)
- Servos
- 16× Dynamixel XC330-M288-T (Lite: XL330)
- Power
- 5 V, 30 A supply
- Query rate
- Up to 500 Hz
- Current limit
- 300 mA default, 550 mA on the full hand
Figures as published by the project. See Sources below.
Bill of materials
| Part | Qty | Notes |
|---|---|---|
| Dynamixel XC330-M288-T | 16 | Lite build uses XL330-M288-T |
| FPX330 horn and bracket sets (H101, S101, S102) | — | |
| ROBOTIS U2D2 and Power Hub | 1 each | |
| 5 V 30 A power supply, 14 AWG cable, XT30 pigtail | — | |
| M2/M3 screws and heat-set inserts | — | |
| PLA Pro (~200 g) and optional NinjaFlex fingertips | — | |
| Grip tape | — |
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 $1,771 as a ballpark from the project. Start at the project repository.
Tools you'll need
- M2 and M3 hex keys
- PH00 screwdriver
- Soldering iron for brass inserts
- Dynamixel Wizard
Step-by-step build overview
Electronics & wiring overview
All 16 servos sit on one Dynamixel TTL chain fed by a 5 V supply through the Power Hub, with a single micro-USB link to the PC. Dynamixel Wizard and the API can't share the port, so close one before using the other.
Software
Official APIs cover Python, C++, ROS and ROS 2. Code is MIT; CAD is CC BY-NC-SA. Extras include MANO-to-LEAP retargeting, Manus glove teleoperation and simulation environments for Isaac and MuJoCo.
Tips from the bench
- ☕ Avoid USB extension chains; they cause dropped packets.
- ☕ Lower latency on Ubuntu by setting the FTDI latency timer to 1 ms.
- ☕ Overload faults (flashing red) clear with a power cycle; if they recur, lower the current limit.
LEAP Hand FAQ
How much does LEAP Hand cost?
Under $2,000 according to the team; the August 2023 parts page totals about $1,772.
How long does it take to build?
The project says under three hours using common hand tools.
Can I use LEAP Hand commercially?
The code is MIT, but the CAD is CC BY-NC-SA, which is non-commercial.
What simulators support it?
Isaac Gym, Isaac Lab and MuJoCo Playground all have LEAP Hand environments.
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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