Open-source dexterous hand platform
Modular low-Impedance Direct-drive Anthropomorphic Sensing Hand.
Open-source tactile dexterous hand platform for robot learning, teleoperation, and manipulation research.
MIDAS Hand is a low-cost, anthropomorphic, tactile dexterous hand designed for robot learning research, hardware teleoperation, manipulation experiments, and sim-to-real development.
The public release includes CAD exports, printable files, a parts list, assembly documentation, MuJoCo simulation models, and software repositories for control, retargeting, and teleoperation.
Tool handling, grasping, and in-hand motion.
Sensor response and contact feedback.
Dexterous manipulation rollouts demonstrating coordinated hand motion.
Vision-based hardware retargeting and operator control demo.
Full length repeatability test for hardware consistency and robustness.
Hardware-synchronized MuJoCo simulation view for the simplified MIDAS Hand model.
Open-source documentation map
BOM, vendors, quantities, alternates, fabrication notes, and required tools.
02Onshape source, whole-hand STEP, printable 3MF plates, URDF, and model version notes.
03Build order, subassemblies, assembly videos, calibration notes, and troubleshooting.
04API, MuJoCo simulation, retargeting, teleoperation, examples, and installation flow.
05Hardware, software, and documentation license terms with citation and attribution guidance.
MIDAS Hand