Model T
Yale OpenHand research hand; do not confuse it with Model T42.
Open-source, underactuated research hand from Yale OpenHand. Introduced in 2013, one Dynamixel actuator drives four compliant fingers through a floating-pulley differential for adaptive power grasping.
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
One independent actuator coordinate drives all four underactuated fingers through the pulley-tree differential. Confirmed by the Model_T control class using a single servo/command axis, not by motor count alone. This is active control DoF, not the number of mechanical finger joints.
Mechanical and mounting
The Yale Model T specification lists 490 g. Recorded as 0.49 kg; the page does not specify finger-option or hardware-revision-specific mass, or an included-components breakdown. Do not apply it to Model T42 or another hand.
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 T | Open GitHub |