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3D model loaded from the original files on GitHub at 7bb2f23, under CC-BY-NC-SA-4.0. View the original files from GitHub (4.1 MB) (opens in a new tab)

Non-commercial license

Aero Hand Open

Robot arm

An open-source, tendon-driven 7-DoF robotic hand with five fingers for dexterous manipulation research, built from 3D-printed parts and off-the-shelf electronics.

Project information

Buildability
79/100Buildable with some effort
Estimated cost
$314approx. €280 (ECB rate, 5 Nov 2026)excluding 3D-printing filamentAs stated by the creator.
Level
Intermediate
Parts
Not listed
Tools
3D printer, soldering iron
Hardware license
CC-BY-NC-SA-4.0 (opens in a new tab)
Software license
Apache-2.0 (opens in a new tab)
Commercial use
Not allowed
Works with
ROS 2
Weight
389 g

A non-commercial license (CC-BY-NC) does not allow selling kits or parts.

Selling products that use Aero Hand units bought from Chestnut Robotics is allowed. Making or selling hands or parts from the design files is not. Chestnut Robotics' licensing guide (opens in a new tab)

This repository contains executable files that Robotheca doesn't check. Only run them if you trust the creator.

Which files (17 firmware images)
Download the files, free (.zip at the pinned commit)Fork on GitHub (opens in a new tab)

Suggested by Robotheca, created by @Chestnut-Robotics (opens in a new tab), from github.com/Chestnut-Robotics/aero-hand-open (opens in a new tab), pinned to commit 7bb2f23 (opens in a new tab). You buy the parts yourself; Robotheca doesn't sell robots.

What to buy

This repository has no parts list Robotheca can read yet.

Why it scores 79

It measures the published files, not the robot · How we score

79/100

Buildable with some effort

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 7bb2f23. It isn't a rating of the robot. Counted out of 95 points and scaled to 100: the parts that don't apply to this robot are left out.

  1. 13D and CAD files27 printable parts (STL, 3MF), 28 CAD source files.20/20
  2. 2Robot descriptionA URDF with all its mesh files.15/15
  3. 3Parts listNo parts list in the repository or linked.Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.0/20
  4. 4SoftwareCode in this repository, instructions to install or run it, built on ros2.15/15
  5. 5DocumentationREADME of 9,153 characters with 8 pictures; 5 build steps.15/15
  6. –SimulationNo simulation files. Not counted: the score is made of the parts that apply.Optional: add a simulation model (MuJoCo, Gazebo, Webots or Isaac).Not counted
  7. 6LicensesHardware: CC-BY-NC-SA-4.0; software: Apache-2.0.10/10

Build it

The creator's 5 steps, each linked to its instructions
  1. Print the 3D-printed parts
  2. Assemble the finger modules
  3. Attach the finger modules to the palm
  4. Route the tendons
  5. Connect the electronics

The guide appears here as you scroll.

Guide by @Chestnut-Robotics (README.md). Its license (CC-BY-NC-SA-4.0 (hardware) and Apache-2.0 (software)) doesn't let everyone reuse it. To reuse it, ask the creator on GitHub (opens in a new tab). Creators can ask Robotheca to remove it at contact@robotheca.org.

More guides

Wiring and electronics

Notes written by Robotheca from the project's documents, not by its creator

Main parts: Robotheca's summary

  • Seeed Studio XIAO ESP32-S3 microcontroller board controls the hand.
  • Seven Feetech HLS3606M smart servos drive the joints and tendons.
  • Servo power rail supplies up to 10 A, separate from the 5 V USB supply.
  • Custom left and right PCBs are provided in KiCad and Gerber formats.

Connections: Robotheca's summary

  • Servos are addressed by ID on the servo bus, one ID per joint channel.
  • Servo power is supplied on a dedicated rail separate from USB 5 V power.
  • The PCB design files define how the ESP32-S3 connects to the servo bus; the documents give no pin-level detail.

What it can do: Robotheca's summary

Written by Robotheca from the project's documents, not by its creator
  • Robotic hand with 7 degrees of freedom and five fingers, tendon-driven for smooth motion.
  • Position control is recommended for grasping; torque control is available for advanced users in one direction, fully open to fully closed.
  • Homing routine re-establishes the open reference by driving each joint to contact based on current.
  • Firmware accepts a fixed 16-byte binary serial protocol to command finger positions, set torque and speed, trim endpoints, and read position, velocity, current and temperature.
  • Hand can be controlled from a Python SDK, and is compatible with ESP32 and ROS 2 Humble systems.
  • Sequencing demo combines finger motions into timed sequences such as pinch, open palm or peace sign.

Works with AI

Found by Robotheca in the project's files at commit 7bb2f23, its robot.yaml and Robotheca's notes on its documents. Never guessed; Robotheca doesn't run the code.

Software

Framework
ROS 2
Languages
Python, C++, C, Arduino
License
Apache-2.0

Robotheca doesn't review code. Read it before running it.

How to run it: Robotheca's summary

Written by Robotheca from the project's documents, not by its creator.

  1. 1Set the hand as LEFT_HAND or RIGHT_HAND in HandConfig.h, or pass a build flag such as -DRIGHT_HAND.
  2. 2Build and flash the firmware sketch to the ESP32-S3 with PlatformIO or the Arduino IDE, selecting the XIAO ESP32S3 board.
  3. 3Alternatively, upload the prebuilt .bin file from main/bin using the aero-open-gui from the SDK.
  4. 4After reset, open a serial monitor at the configured baud rate (default 921600) and confirm all 7 servos report OK.
  5. 5Install the Aero Hand SDK to control the hand from Python; example scripts such as run_sequence.py run once the serial port is configured.
  6. 6For ROS 2 Humble, build the ros2 workspace with colcon after installing dependencies with rosdep.

Software that runs on this robot

No software from Robotheca's catalogue found in this robot's files yet. Links come from its robot.yaml, its dependency files read as text, or Robotheca's editors.

The code

Free files

Browse all files

Every file of the project, at commit 7bb2f23.

Community

Questions and improvements go to the creator's repository.

Add a badge to your README

For the creator: two badges that link back here. The second always shows this page's current label and score.

Listed on RobothecaRobotheca buildability

Markdown (one click selects it)

[![Listed on Robotheca](https://robotheca.org/robots/aero-hand-open/badge.svg)](https://robotheca.org/robots/aero-hand-open)
[![Robotheca buildability](https://robotheca.org/robots/aero-hand-open/score.svg)](https://robotheca.org/robots/aero-hand-open)

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≈ € values are approximate, converted at the ECB euro reference rate of 5 Nov 2026. The creator's original price always comes first.