LEAP Hand Low-Cost Open-Source Dexterous Hand
Vendor: CMU
Product: LEAP Hand
LEAP Hand is an open-source four-finger dexterous hand from Carnegie Mellon University (Kenneth Shaw, Ananye Agrawal, Deepak Pathak; RSS 2023): 16 DoF (4 per finger) at a total cost under $2,000, assemblable in under 3 hours using only common hand tools, and roughly 1/8 the cost of the Allegro Hand while achieving superior dexterity thanks to universal abduction-adduction kinematics. The project releases the URDF model, 3D CAD files, a tuned Isaac Gym / Isaac Lab simulation environment and Sim2Real training code, making it a popular low-cost platform for grasp and manipulation research, teleoperation and 3D-printable replication.
| DoF | 16 |
| Cost | Under $2,000 |
| Type | dexterous-hand |
| Fingers | 4（ 4 DOF） |
| Actuation | drivers - |
| Reference | RSS 2023（Shaw, Agrawal, Pathak, CMU） |
| Simulation | Isaac Gym / Isaac Lab simulation environment |
| Open Source | URDF / 3D CAD / Sim2Real |
| Assembly Time | approx. 3 |