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Ale-HAND-Ra: Design and Development of a Low-Cost, Open-Source Humanoid Robotic Hand

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Abstract:

Existing open-source robotic hand designs rarely achieve full human-like functionality, limiting their accessibility and utility. Ale-HAND-ra addresses this gap with a cost-effective, open-source humanoid robotic hand featuring 20 degrees of freedom, developed using filament- and resin-based 3D printing for affordable production (total cost: \$161.54). Grounded in biomechanical analysis, its kinematic model enables precise finger movements and versatile grasping, validated through simulations and tests against human benchmarks. Employing a modular design with servomotors and low-cost materials, Ale-HAND-ra balances functionality and simplicity, achieving a 350-gram grip capacity. Released on GitHub, this prototype fosters collaboration for educational, prosthetic, and robotic applications.

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Periodical:

Applied Mechanics and Materials (Volume 929)

Pages:

91-105

DOI:

https://doi.org/10.4028/p-wzT8b4

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Online since:

December 2025

Authors:

Hillary Velásquez, Marcela Lagos, Fávell Núñez*, Luis Felipe Casas

Keywords:

Digital Fabrication, Hand Biomechanics, Humanoid Robot Hand, Kinematic Analysis, Open-Source Design

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© 2025 Trans Tech Publications Ltd. All Rights Reserved

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* - Corresponding Author

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