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Yale University

Yale OpenHand Model Q

The original Yale OpenHand Model Q, not the later Model Q-II.

Model Q · 1.0

Price
Unknown
Type
Components · Dexterous Hands
Status
Unknown
Availability
Not disclosed
Release Date
Unknown
Country/Region
United States
Latest parameter verification
2026-10-31
0.74 kg
Hand weight
4
Finger count

A four-finger, four-actuator Yale OpenHand Project hand that pairs two independently driven precision fingers with a rotating power-grasping pair for finger-gaiting and precision manipulation.

1 / 1Model Q

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

Four-finger hand.

Actuator count
4

Official specification.

Actuator technology
Dynamixel servo actuator

Official specification lists Dynamixel XM430-W350-R.

Materials
PMC-780 and Vytaflex 30

Listed in the Model Q v1.0 fabrication guide.

Transmission mechanism
Tendon-driven

The paper describes tendon-driven underactuated fingers.

Actuator Model
Dynamixel XM430-W350-R

Official specification.

Joint Motion Range
110 °

Degrees; differentially coupled finger-pair abduction capability.

Mechanical and mounting

Height
7.5 cm

cm; base height.

Hand weight
0.74 kg

kg; official specification.

Mechanical Structure

Joint Encoder
Not equipped

The paper states the hand is not equipped with joint encoders.

Joint Type
Precision: pin-based revolute; power: flexure-based proximal joints

Model-specific paper.

Sensors

Tactile Sensor
Not equipped

The paper states the hand is not equipped with tactile sensors.

Development and Expansion

Operating Modes
Finger-gaiting and precision manipulation

Official Model Q description.

Configurations

Model Q — 2022 experimental configuration

Sensing

Has tactile sensing
No

Commercial Status

Status
Unknown
Price
Unknown
Release Date
Unknown
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