Several aluminium parts must be machined without published drawings, and the glove also needs a Meta Quest headset and controller.
An open-hardware teleoperation and data-collection system from Toyota's Frontier Research Center. A finger-driven glove built around a Meta Quest Touch Plus controller reads the operator's finger motion with a magnetic encoder, and a matching two-finger gripper driven by a single Dynamixel servo reproduces it on a robot arm. Desk-mounted and wearable rigs for collecting demonstrations are included, with flanges for Franka, OpenArm and Unitree G1.
At a glance
| Parts cost | $550–$750 estimated How Estimated for this page from current retail prices (2026-10-02) of the parts in the project parts list source ↗ Build priced One YUBI Glove + one YUBI Gripper (Dynamixel) Not included 3D printing, tools, shipping, tax; Meta Quest headset and Touch Plus controller (assumed owned); robot arm; Dynamixel USB interface (not listed) |
|---|---|
| Difficulty | 4/5 Advanced · Needs machined aluminium parts with no published drawings, MISUMI part numbers, a Meta Quest setup and a robot arm to be useful. |
| Build time | Not stated |
| Tools needed | 3D printer (PLA and TPU), access to machining for the aluminium gear shaft and brackets (or printed alternatives for some parts), soldering for the encoder and ESP32 board |
| Motors | 1 Dynamixel XM430-W350-R per gripper |
| Controller | XIAO ESP32C6 in the glove; PC for the gripper; Meta Quest for tracking |
| Sensors | AS5601 magnetic angle encoder, Meta Quest controller pose, ELP fisheye cameras |
| Published | ✓ Parts list✓ CAD/STL✓ Assembly guide✓ Wiring✓ Software✗ Video GitHub repo with STEP/STL, markdown/CSV parts lists and PDF assembly guides + separate software repo |
| Activity | Last update 2026-09-21 · 174 GitHub stars · GitHub issues answered by Toyota staff; 13 forks |
| Kits | None found |
Licenses
| Design files | CERN-OHL-W-2.0 source ↗ |
|---|---|
| Code | Apache-2.0 (yubi-sw) source ↗ |
| Documentation | CERN-OHL-W-2.0 (docs are part of the hardware repo) source ↗ |
Builder notes
Practical points from the project's issue tracker, forum and docs, each linked to its source.
- Detailed drawings for the machined gear shaft, gripper bracket and tool flange are not provided, so builders must work out dimensions and tolerances from the CAD themselves. source ↗
- No commercial substitute is suggested for the machined gear shaft. source ↗
- The AS5601 encoder board is a stock breakout with a 15 mm two-hole mounting pattern, not a custom PCB. source ↗
- The parts list originally gave only Japanese supplier part numbers. The team said it will add example purchase links from several platforms. source ↗
Other hands plans
- LEAP Hand · $1,800 (2023) · difficulty 2/5
- AmazingHand · $140 · difficulty 2/5
- UMI gripper (Universal Manipulation Interface) · $370 (2024) · difficulty 2/5
- RUKA hand · $1,300 · difficulty 3/5
- Aero Hand Open · $320 · difficulty 3/5
- ORCA Hand · $2,000 · difficulty 4/5
- Yale OpenHand (Model T42 / Model O) · $1,400 · difficulty 3/5
- DexHand (The Robot Studio) · $300 (2023) · difficulty 4/5