humanoidrobots.systems

pollen/amazing-hand · spec sheet

Pollen AmazingHand specs

Fully 3D-printable 8-DOF four-finger humanoid hand with all actuators inside the hand, designed for Pollen's Reachy2 wrist but adaptable.

Maker
Pollen Robotics
Class
Hand
Status
Active
Availability
DIY build
Country
France, Bordeaux
Level
L1 Compiled
01

Media

5 items · credited and licensed
AmazingHand studio render, three-quarter front viewrender
Studio render of the published MJCF, keyframe pose from the model. Geometry only; colours are the model's own materials.Rendered by Hyperspawn from pollen-robotics/AmazingHand (Apache-2.0)license: Hyperspawn rendergithub.com
AmazingHand studio render, side viewrender
Side view of the same MJCF render, keyframe pose from the model.Rendered by Hyperspawn from pollen-robotics/AmazingHand (Apache-2.0)license: Hyperspawn rendergithub.com
AmazingHand overview drawing with fingers and dimensions
Overview drawing from the AmazingHand README.Pollen Robotics (AmazingHand)license: Apache-2.0github.com
AmazingHand render, four-finger 3D-printed hand
From the AmazingHand README.Pollen Robotics (AmazingHand)license: Apache-2.0github.com
4 s turntable of the MJCF studio render.Rendered by Hyperspawn from pollen-robotics/AmazingHand (Apache-2.0)license: Hyperspawn rendergithub.com
02

Specifications

4/12 fields sourced
Pollen AmazingHand specifications
Heightspecs.heightCmunsourced
Massspecs.massKg0.4kg
Degrees of freedomspecs.dof8
Payloadspecs.payloadKgunsourced
Top speedspecs.speedMpsunsourced
Runtimespecs.runtimeMinunsourced
Battery capacityspecs.batteryWhunsourced
Pricespecs.priceUsdunsourcedUpstream BOM: €116.89 per hand, €128.28 with the Waveshare board (EUR only; printing extra)
Actuatorsspecs.actuators8x Feetech SCS0009 servos (2 per finger)
Computespecs.computeunsourced
Sensorsspecs.sensorsunsourced
Year introducedyear2025
Licenselicense.hw / .sw / .docsHardware: CC-BY-4.0Software: Apache-2.0

Note · An 'Amazing Hand Enhanced' branch exists. Third-party kits from WowRobo/Seeed. Onshape CAD public. Left and right MJCF models ship in Demo/AHSimulation.

03

Openness

method
90 / 100Open hardware
ArtifactPublicWeightPoints
CADopenness.cadyes2525
Bill of materialsopenness.bomyes2020
Sim model (URDF/MJCF)openness.simyes2020
Firmwareopenness.firmwareyes1515
Softwareopenness.softwareyes1010
Trained policiesopenness.policiesno100
score = Σ weight × public90
04

Build package

v0.1.0 · full guide
BOM lines
15
Parts (qty)
105
Priced BOM
—
Fab parts
16
Print time
—
Material
—
Build steps
21
Est. assembly
—
Safety steps
4
Vendors
5

BOM by category · USD from priced lines

CategoryLinesQtyUSD
Structure541—
Fasteners350—
Electronics33—
Actuators18—
Printed11—
Power11—
Other11—

Offers in CN · EU from 5 vendors

Subsystems · assembly groups

GroupStepsMinSafety
Fabrication2——
Preparation2——
Finger (x4)8——
Electronics1—1
Calibration2—2
Hand4——
First motion1—1
Software1——

Fabrication: FDM print ×16

Firmware

Targets
Feetech SCS0009 bus (IDs 1-8, 1 Mbaud), Waveshare serial bus servo driver + host Python (rustypot), Arduino Mega 2560 + Feetech TTLinker (SCServo library)
Repo
github.com/pollen-robotics/AmazingHand
Calibrate
Set IDs in Feetech FD (1000000 baud): index 1/2, middle 3/4, ring 5/6, thumb 7/8. Run PythonExample/AmazingHand_Hand_FingerMiddlePos.py, fit horns, then AmazingHand_FingerTest.py and adjust MiddlePos per servo until the horns align with the servo mid-plane in the closed pose (Arduino: raw values around 511, 0.293° per step). Rust tools in Demo/AHControl: `cargo run --bin=get_zeros`, `set_zeros`, `change_id`, `goto`.
Notes
No firmware to flash on the servos; the host drives them over the half-duplex TTL bus. Python uses rustypot's Scs0009PyController; Arduino needs the SCServo library (Serial1 on a Mega, pins 19/18). For left and right hands on one bus, use the alternate IDs in assets/Both_Hands-IDs.jpg and PythonExample/AmazingHand_Demo_Both.py.

Caveats · stated by the package

  • All upstream prices are in EUR (BOM total €116.89 per hand, €128.28 with the Waveshare board, €142.29 with Arduino + TTLinker; the sheet's own USD conversion uses 1.16). They are kept as notes; no USD prices are set.
  • Most vendor links are French Amazon/AliExpress listings (tracking parameters stripped). Alibaba links are the Feetech supplier pages. A Chinese-market BOM is maintained separately by Jianliang Shen (linked in the README).
  • Rod lengths are inconsistent inside the assembly guide: page 6 says cut 4 rods at 26-28 mm and 8 rods at 14-16 mm, page 9 lists 2x 18 mm and 1x 25 mm per finger. Cut long, then trim against the length tooling.
  • The length tooling needs 2 extra D2x16 axes that stay pressed in; the BOM lists 8 D2x16, exactly the 4 fingers' need. Order 10.
  • The BOM sheet's screw rows carry swapped link annotations ('M2.5 x 8' on the 2.5x6 row and vice versa); both point to the same listing.
  • Material for the top shell differs: the parts sheet says flexible filament, the printing guide also shows a rigid PLA hand shell (20-40% infill).
  • The wrist interface is designed for Pollen's Reachy2 (Orbita 3D wrist). An SO-ARM interface and a desk base are community additions in cad/.
  • Upstream disclaimer: real finger angles vary from the CAD, and the hand is not yet validated for long grasping tasks; stalled SCS0009 servos can overheat.
  • An 'Amazing Hand Enhanced' revision lives on a separate branch (Amazing-Hand-Enhanced); this package follows main.
  • Print hours and filament grams are not published. Assembly time per the Overview is 5-6 hours.
  • Ready-made kits exist: Seeed Studio (https://www.seeedstudio.com/Amazing-Hand-Right-Hand-The-Open-Source-Robotic-Hand-Developer-Kit.html) and WowRobo (https://shop.wowrobo.com/products/amazing-hand-the-open-source-robotic-hand-kit).

Package pollen/amazing-hand@0.1.0 · upstream pollen-robotics/AmazingHand@3e8241074df3436a3044ced4881e3bb2133aa725 (main, 2026-04-03); BOM Google Sheet (tabs 'BOM' gid 1269903342 and '3D printed parts' gid 2050623549) as exported 2026-09-25; docs/AmazingHand_Assembly.pdf, AmazingHand_3DprintingTips.pdf, AmazingHand_Overview.pdf at that commit · 12 package sources

05

Models, repositories, links

5 links
06

Videos

2 tagged · 0 from the maker's channel
Amazing handPollen RoboticsOfficial embedyoutube.comPollen RoboticsPollen AmazingHand
Amazing Hand x Reachy 2 🤯Pollen RoboticsOfficial embedyoutube.comPollen RoboticsPollen AmazingHand
07

News and papers

0 stories · 0 papers

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08

Sources

last checked 2026-09-25
  1. [1]AmazingHand repo (licenses, specs)github.com/pollen-robotics/AmazingHandchecked 2026-09-24
  2. [2]Hugging Face blog announcementhuggingface.co/blog/pollen-robotics/amazing-handchecked 2026-09-24
  3. [3]AmazingHand BOM sheet (EUR totals)docs.google.com/spreadsheets/d/1QH2ePseqXjAhkWdS9oBYAcHPrxaxkSRCgM_kOK0m52E/edit?gid=1269903342#gid=1269903342checked 2026-09-25
09

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Cite this page

humanoidrobots.systems. “Pollen AmazingHand specs.” Hyperspawn, data revision 2026-10-08. https://humanoidrobots.systems/pollen/amazing-hand

Machine-readable: /data.json (record pollen/amazing-hand).