Carnegie Mellon University

DexKit V0

CMU research platform; not a commercial product listing.

Price

Price not disclosed

Type

Components · Dexterous Hands

Status

Prototype

Availability

Not released

Release Date

Unknown

Country/Region

United States

Latest parameter verification

2026-09-12

12 DOF

Active degrees of freedom

Finger count

DexKit V0 is a self-contained dexterous-manipulation research platform from Carnegie Mellon University. It combines a compliant anthropomorphic hand with 12 actuated degrees of freedom and a 4-DoF gantry. The underactuated, tendon-driven foam hand supports tabletop grasping, manipulation research, and educational experiments. The hand and motor bank cost about USD 800 to build, while the complete system costs about USD 2,000. It is a prototype and has not been publicly released for sale.

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Technical specifications

Model specifications are shown below. Configuration-specific values are listed separately; missing data does not mean zero or unsupported.

Physical Specifications

Finger count

Actuator count

Hand motor bank, excluding gantry: 12

Hand motor bank only; excludes gantry motors.

Actuator technology

Electric servo motors

Active degrees of freedom

12 DOF

Materials

FlexFoam-iT! X two-part urethane foam; cotton gloves; PTFE tubing; EVA retention bridges

Materials

3M Super 77 adhesive bonds the inner glove to the foam

Surface Fabric

Two cotton glove layers; outer glove covers tendons and tubing

Total degrees of freedom

Complete kit, hand plus gantry: 16

Complete kit: hand 12 plus gantry 4; not hand-only DOF / 整套平台：手部 12 加龙门架 4，非仅手部自由度 / キット全体：手12＋ガントリー4、手部のみの自由度ではない

Transmission mechanism

Tendon-driven underactuated foam hand

Actuator Model

Hand: 12 × FeeTech HL-3620-C002; forearm roll: FeeTech HL-3640-C001

Motion and coordination

Coordination architecture

Four-axis gantry with X, Y and Z translation plus forearm roll

Mechanical and mounting

Mounting interface

3D-printed perforated wrist insert bonds to foam and guides tendons to the motor bank

Mechanical Structure

Internal Wiring

PTFE tendon guide tubes: 2 mm outer diameter, 1 mm inner diameter

Internal Wiring

Tendons are sewn into the inner glove and terminated with double constrictor knots

Joint Type

Compliant continuum foam structure

Development and Expansion

Configuration Options

Customizable hand shape and tendon paths; removable EVA tube-retention bridges

Commercial Status