Yale OpenHand

Yale GRAB Lab

CAD and build resources for a family of adaptive robotic hands and grippers.

What you can explore

Explore the Model T, T42, O and other mechanisms using the matching assembly documentation.

Before you use it

Each model has distinct geometry and control requirements. Check design-file terms and do not infer software support across all variants.

Original contributors

Yale OpenHand contributors

License / access: See source terms; permissions for code, models and data may differ

Original code & documentation

Editorial reference · checked 2026-09-22