Amazing Hand is an open-source 8-DOF humanoid hand that packs all its actuators inside the palm — no cables, no deported motors, no forearm clutter. Derived from Pollen Robotics' expertise on Reachy 2, it brings professional-quality dexterity at under 200€.

Four fingers, each with two degrees of freedom (flexion/extension and abduction/adduction), are driven by parallel mechanisms using pairs of Feetech SCS0009 micro servos. The result is a surprisingly expressive hand that can grasp, pinch, point, spread, and form complex gestures.

Key specs:

• DOF: 8 (2 per finger × 4 fingers — index, middle, ring, pinky)
• Mechanism: Parallel mechanism per finger — both joints driven simultaneously by 2 servos
• Servos: 8× Feetech SCS0009 (serial bus, compact)
• Weight: ~400g assembled
• Build cost: Under 200€ (including servos)
• Wrist interface: Designed for Reachy 2's Orbita 3D wrist, adaptable to other platforms
• SO-ARM100 interface: Adapter STL included for mounting on SO-ARM100

Design philosophy: The parallel mechanism is the key innovation: two servos actuate each finger through a gimbal linkage, decoupling flexion/extension from side-to-side movement without requiring tendons or cables. All 8 actuators are housed within the palm housing, keeping the wrist clean and the arm kinematics unaffected.

Control: Two modes: Python serial bus (using a Waveshare SC driver board) or Arduino + Feetech TTL Linker. Both methods and demo code are included in the repository.

An "Amazing Hand Enhanced" branch extends this design with additional capabilities — see the repo for the latest.

Code licensed under Apache 2.0. Mechanical design licensed under CC BY 4.0. Original design by Pollen Robotics — https://github.com/pollen-robotics/AmazingHand