# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Open-Yta Hand
summary: An underactuated anthropomorphic robotic hand with integrated wrist, 7 DOF per finger, cable-driven, 3D printed, and impedance controlled.
category: other
difficulty: advanced
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/gigalgi/open-yta-hand
  ref: aa3bdf08fc4f0405155103d0b24873f4eb539c48
estimated_cost:
  amount: 8
  currency: USD
tools:
  - 3D printer
  - soldering iron
files:
  parts_3d: cad/stl/
  cad: cad/step/
  docs: docs/
  images:
    - docs/images/grasping-objects.jpeg
software:
  framework: arduino
specs:
  dof: 7
  weight_g: 85
  height_mm: 208
build_steps:
  - title: Print the finger, palm, thumb, wrist, shoulder and elbow parts in PETG with corr
  - title: Print the wrist in two halves and bond them with cyanoacrylate or epoxy
  - title: Assemble the finger with its motors, AS5600 encoder, FSR-400 force sensor and ca
  - title: Flash the impedance control firmware to the Arduino