English | 简体中文
AmazingHand is an open-source, 3D-printable humanoid robotic hand with 8 degrees of freedom across 4 fingers. Every actuator sits inside the hand — no cables running to the forearm — for roughly 400 g and under €200 in parts.
This repository gathers the original mechanical design and firmware from the Pollen Robotics project together with the control software, browser controller and servo tooling developed by Juxi Technology.
| Folder | Description | README |
|---|---|---|
AmazingHand-main/ |
Original design: STL/STEP CAD files, Arduino & Python examples, demos (control, simulation, hand tracking), assembly and 3D-printing guides, BOM | English · 中文 |
AmazingHandControl/ |
Python control tools: Tkinter GUI and CLI for calibration, pose presets, sequences and live servo control | English · 中文 |
SCS0009_ServoController/ |
SCS0009 servo debug tool: PySide6 GUI to scan the bus, read and write all 44 registers, change baud rate, factory reset, and back up parameters as .xdat |
English · 中文 |
Amazinghand-web/ |
Browser control: 8 servo sliders, 19 preset poses, and camera teleop with MediaPipe running entirely in the page — left or right hand, bilingual UI, tutorials in 11 languages | English · 中文 |
| What you want to do | Where to go |
|---|---|
| Control the hand from a browser — sliders, preset poses, camera teleop | Amazinghand-web/ — pip install -r requirements.txt, then python server.py --no-connect and open http://localhost:8000 |
| Run the desktop demos — simulation, hand tracking, servo control | AmazingHand-main/Demo/ — one-click deployment scripts for Windows, Linux and macOS |
| Calibrate servos or script poses offline | AmazingHandControl/ · SCS0009_ServoController/ |
Hardware needed: the assembled hand, an external 5 V / 2 A supply, and a USB serial bus adapter (see Hardware below).
- 8 × Feetech SCS0009 servos (potentiometer feedback, 10-bit resolution, 0–1023)
- External 5 V / 2 A power supply
- Serial bus adapter, or an Arduino with a Feetech TTL Linker
- 3D-printed parts — see the BOM
Each finger is driven by a parallel mechanism: two SCS0009 servos move it in flexion/extension and abduction/adduction.
- Software: Apache License 2.0
- Mechanical design: CC BY 4.0
SCS0009_ServoController/: MIT- Third-party components bundled with
Amazinghand-web/(MediaPipe, …): see its NOTICE
Based on AmazingHand by Pollen Robotics.