Open source · free files
Giraffe
Robot arm · Intermediate
- Score
- Buildability 100 out of 100
- Cost
- ₹14,585.71≈ €138
Photo and 3D model
3D preview converted from github.com/opsobot/rebelia at dffd80e, under CERN-OHL-S-2.0. View the original files from GitHub (36.9 MB) (opens in a new tab)
Open source · free files
Rebelia
Robot arm
An open-source, humanlike robotic hand for humans and robots, made mostly from 3D-printed parts and off-the-shelf servos and electronics.
Project information
- Buildability
- 50/100Buildable with some effort
- Estimated cost
- Not stated
- Level
- Intermediate
- Parts
- Not listed
- Tools
- 3D printer
- Hardware license
- CERN-OHL-S-2.0 (opens in a new tab)
- Software license
- GPL-3.0-only (opens in a new tab)
- Commercial use
- Allowed
- Works with
- Arduino
Suggested by Robotheca, created by @opsobot (opens in a new tab), from github.com/opsobot/rebelia (opens in a new tab), pinned to commit dffd80e (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 50
It measures the published files, not the robot · How we score
50/100
Buildable with some effort
How complete the published files are for rebuilding this robot, measured by Robotheca at commit dffd80e. It isn't a rating of the robot. Counted out of 80 points and scaled to 100: the parts that don't apply to this robot are left out.
- 13D and CAD files23 printable parts (STL, 3MF).Add the CAD source (STEP, or the CAD program's own files) so people can change the design.10/20
- –Robot descriptionNo URDF. Not counted: the score is made of the parts that apply.Optional: add a URDF, and the robot can be seen in 3D and tried in the browser.Not counted
- 2Parts 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
- 3SoftwareCode in this repository, instructions to install or run it, built on arduino.15/15
- 4DocumentationREADME of 7,507 characters with 0 pictures; 0 build steps.Split the build into at least 3 steps. Show the robot and its assembly in pictures in the README.5/15
- –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
- 5LicensesHardware: CERN-OHL-S-2.0; software: GPL-3.0-only.10/10
Build it
The guide appears here as you scroll.
Guide by @opsobot (Readme.md), under CERN-OHL-S-2.0 (hardware) and GPL-3.0-only (software).
More guides
Wiring and electronics
Notes written by Robotheca from the project's documents, not by its creator
Main parts: Robotheca's summary
- ESP32 microcontroller board, as the firmware is built for the ESP32 in Arduino IDE 2.
- Serial bus servomotors controlled through the SCServo library.
- Two EMG sensors on the prosthetic version, per the OSHWA certification record.
- Gerber files for a servo board (Slim variant) in the prosthetic version hardware folder.
- Commercial components are listed in BOM.md, which was not provided in the documents.
Connections: Robotheca's summary
- The documents do not describe the wiring between the ESP32, servos, EMG sensors and power supply.
- The servo board PCB design exists in Gerber form, but the documents do not explain its connections.
Schematics, boards and diagrams
What it can do: Robotheca's summary
Written by Robotheca from the project's documents, not by its creator
- Humanlike robotic hand driven by servomotors, designed for researchers, students and robotics enthusiasts.
- Custom firmware provides precise motor control and processes commands for hand movements.
- Two-channel EMG control is mentioned in the firmware disclosure, indicating EMG-based control of the prosthetic version.
- Fully 3D-printable mechanical design built with commercial off-the-shelf servos and electronics.
- Targets an affordable build cost under 2000 EUR.
Software
- Framework
- Arduino
- Languages
- C, Arduino
- License
- GPL-3.0-only
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.
- 1Install the Arduino IDE 2 and add the 'esp32' board package by Espressif Systems through the Boards Manager.
- 2Download the ESP32FFT library from GitHub and place the 'ESPfft' folder in the Arduino libraries folder.
- 3Install the SCServo and BluetoothSerial libraries through Arduino's Library Manager.
- 4Open the 'RebeliaHuman' sketch in the Arduino IDE 2.
- 5Build the sketch in the Arduino IDE and upload the binary to the ESP32 board.
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
- 3D printable partshardware/CAD/STL/
- Electronicshardware/Electronics/Prosthetic Version/GerberFiles_ServoBoard Slim/
- Documentationdocs/
- Robotheca metadatarobot.yaml
Every file of the project, at commit dffd80e.
Community
- Issues on GitHub (opens in a new tab)
- Pull requests on GitHub (opens in a new tab)
- Are you the creator? Manage this robot
- Report outdated info
- Report this robot
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.
Markdown (one click selects it)
[](https://robotheca.org/robots/rebelia) [](https://robotheca.org/robots/rebelia)
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- Score
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- Cost
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- Score
- Buildability 89 out of 100
- Cost
- $2,309.72≈ €2,058
≈ € values are approximate, converted at the ECB euro reference rate of 5 Nov 2026. The creator's original price always comes first.