Stewart Hand

Research prototype from Yale OpenHand; not a commercial product.

Revision 1.0.0

Price

Price not disclosed

Type

Components · Dexterous Hands

Status

Research prototype

Availability

Not disclosed

Release Date

Unknown

Country/Region

United States

Latest parameter verification

2026-10-30

6 DOF

Active degrees of freedom

1.13 kg

Hand weight

Finger count

Stewart Hand is a Yale OpenHand research prototype for six-degree-of-freedom in-hand manipulation. Its non-anthropomorphic Stewart–Gough parallel mechanism uses three linkage fingers, six linear actuators for manipulation, and a separate actuator to maintain grasping force.

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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.

Degrees of freedom and drive

Finger count

Actuator count

Active degrees of freedom

6 DOF

Materials

3D-printed ABS; aluminum sheet for one custom component

Transmission mechanism

Parallel linkage and tendon-pulley differential

Actuator Model

1× Dynamixel XH-430 W350-R; 6× Actuonix L12-50-R

Mechanical and mounting

Height

11.3 cm

Hand weight

1.13 kg

Width

11.3 cm

Compute Platform

Software Algorithm

Open-loop control evaluated for manipulation experiments

Configurations

Stewart Hand — published 2021 prototype

Sensing

Has tactile sensing

Not supported (2021 prototype)

Applies to the published prototype; tactile fingertip feedback is proposed as future work.

Commercial Status