BiDexHand V4 is an open-source cable-driven biomimetic dexterous hand created by Zhengyang Kris Weng. It combines 16 independently actuated degrees of freedom with five mechanically coupled joints and uses a ROS 2 control framework. Public CAD, bill-of-materials and software resources accompany joint-level, task-based and vision-based motion-shadowing control. Reported evaluation includes all 33 GRASP taxonomy poses, a 9/11 Kapandji score, 2.14 N average peak fingertip force, and a demonstrated 10 lb lift. The project describes it as a low-cost platform for the research community.
Model specifications are shown below. Configuration-specific values are listed separately; missing data does not mean zero or unsupported.
Documented V4 PWM/Servo2040 build; the SCS bus alternative points to the V3 fork and is not asserted for this configuration.
Documented V4 PWM/Servo2040 build; the SCS bus alternative points to the V3 fork and is not asserted for this configuration.
