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 |
|---|---|---|
tutorials/ |
Central user tutorials: organized by usage method (quick start, web control, desktop, hand tracking, servo tuning, Arduino, FAQ), with separate SCS0009 and PWM pages; all 11 languages available, with shared image assets | 简体中文 · English |
AmazingHand-main/ |
Original design: STL/STEP CAD files, Arduino & Python examples, demos (control, simulation, hand tracking), assembly and 3D-printing guides | 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; supports both SCS0009 bus servos and PWM servos | English · 中文 |
AmazingHand-PWM/ |
PWM servo edition: ESP32-S3 firmware (ESP-IDF), Tkinter GUI, MediaPipe hand tracking, serial test tool, complete Chinese/English documentation | English · 中文 |
| What you want to do | Where to go |
|---|---|
| Read the complete user tutorials (SCS0009 / PWM) | tutorials/zh-hans/ — choose the servo version, then follow quick start / web / desktop / tracking / tuning |
| 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 |
| Use the PWM servo edition — ESP32-S3 driving 8 PWM channels | AmazingHand-PWM/ — flash the firmware, then use tools/hand_gui.py or the web app (select the PWM driver); see the module docs |
| 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 3D printing tips
PWM servo edition (see AmazingHand-PWM/):
- 8 × PWM servos — firmware is calibrated for PTK 7452 MG-D digital servos (333 Hz); 50 Hz analog servos such as SG90 are not drop-in replacements
- ESP32-S3 development board + PWM servo breakout board
- External 5 V / 3 A supply, common ground with the ESP32
Each finger is driven by a parallel mechanism: two servos move it in flexion/extension and abduction/adduction.
- Software: Apache License 2.0
- Mechanical design: CC BY 4.0
SCS0009_ServoController/: MITAmazingHand-PWM/: origin and third-party components in NOTICE- Third-party components bundled with
Amazinghand-web/(MediaPipe, …): see its NOTICE
Based on AmazingHand by Pollen Robotics.