RoboAtlas
EN
Carnegie Mellon University logoCarnegie Mellon University

LEAP Hand V1

Price
Unknown
Type
Components · Dexterous Hands
Status
Unknown
Availability
Not disclosed
Release Date
Unknown
Country/Region
United States
Latest parameter verification
2026-10-30
16 DOF
Active degrees of freedom
16
Mechanical joint count
0.595 kg
Hand weight
4
Finger count

LEAP Hand V1 is a low-cost, dexterous, anthropomorphic four-finger research hand with 16 degrees of freedom and Dynamixel motors. It operates from 5 V power and connects through Micro-USB and USB serial integration, while exposing position, velocity, and motor-current feedback. The hand supports PID, velocity, and current control, plus glove teleoperation. Its universal abduction-adduction mechanism preserves dexterity across finger poses. Open URDF, CAD, tuned simulation environments, Isaac Gym, Isaac Lab, Python, C++, ROS, and ROS 2 APIs help researchers move between physical manipulation, simulation, and robot-learning experiments.

1 / 1LEAP Hand V1

Technical specifications

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

Degrees of freedom and drive

Finger count
4
Actuator count
16
Actuator technology
Dynamixel servos
Active degrees of freedom
16 DOF
Mechanical joint count
16
Materials
3D-printed PLA plastic components
Total degrees of freedom
16 DOF
Total degrees of freedom
16 DOF
Actuator Model
Dynamixel motors

Motion and coordination

Coordination architecture
Novel kinematic structure for dexterity

Mechanical and mounting

Hand weight
0.595 kg

Electrical and integration

Dexterous Hand
Anthropomorphic dexterous hand
End-Effector
Robotic hand
Joint Encoder
Dynamixel position, velocity, and current feedback
Joint Type
Novel anthropomorphic multi-joint kinematic structure
Operating voltage
5 V

Sensors

Sensors
Position, velocity, and motor current feedback

Battery and Runtime

Power Supply
5 V external power supply
Teleoperation support
Manus Glove teleoperation

Compute Platform

Operating System
Ubuntu serial-by-id integration
Software Algorithm
PID default; velocity and current control supported

Interaction and Communication

Communication
USB serial via /dev/serial/by-id
External Port
Micro-USB

Development and Expansion

Integration Interface
USB serial via /dev/serial/by-id
Operating Modes
PID default; velocity and current control
Secondary Development (SDK)
Python, C++, ROS and ROS 2 APIs
Teleoperation
Manus Glove teleoperation
Workflow Integration
URDF, Isaac Gym, and Isaac Lab resources

Configurations

Standard

Communication and control

Communication interface
USB (Micro-USB)
Control mode
Position control (PID)
Control mode
Velocity control
Control mode
Current control
Feedback rate
≤ 500 Hz

Maximum position-only query rate; not a control-loop frequency.

Feedback rate
≤ 500 Hz

Maximum combined position, velocity and current query rate; not a control-loop frequency.

Feedback signals
Joint position
Feedback signals
Joint velocity
Feedback signals
Motor current

Software and resources

ROS compatibility
ROS 1
ROS compatibility
ROS 2
SDK languages
C++
SDK languages
Python

Commercial Status

Status
Unknown
Price
Unknown
Release Date
Unknown
Submit a source or correction