Model O
Yale OpenHand research hand; not a specific commercial RightHand Robotics product.
Model O is an open-source, underactuated robotic hand from Yale OpenHand. It has three independently driven fingers and a fourth actuator for coupled abduction and adduction, allowing transitions between power and precision grasp configurations.
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
Three independent finger-flexion drives and one abduction/adduction drive.
Mechanical and mounting
Mechanical Structure
Battery and Runtime
Interaction and Communication
Development and Expansion
Open source & build resources
Software
Partially availableExamples or supporting tools are available; this does not establish access to the core system.
Hardware design
Not verifiedThere is not enough verified evidence to establish this dimension.
Build resources
Not verifiedThere is not enough verified evidence to establish this dimension.
| Type | Resource | License | Applicable version | Open |
|---|---|---|---|---|
| Code | Yale OpenHand ROS and Python control GitHub · grablab/openhand_node Official control code explicitly supports Model T, Model T42 and Model O. MIT applies to this software; the separate hardware repository has a noncommercial license. Hardware setup and actuator protocol must match the documentation. | MIT | Model O | Open GitHub |