Hardware release

Parts

A builder-focused BOM for sourcing the MIDAS Hand hardware. Start with the parts to buy, then use the included and printed-part sections as references while preparing the build.

BOM Google Sheet CSV Export

Estimated total $2,982.53

Parts to buy 14

Printed parts 52

Parts to Buy

Items builders should source before printing and assembly.

Official Dynamixel Bundle

ROBOTIS MIDAS Hand Bundle

Open ROBOTIS bundle

Official ROBOTIS bundle for the MIDAS Hand Dynamixel hardware. Includes the actuator set and supporting ROBOTIS communication/cable hardware used by the hand; use the itemized rows below as the quantity and part reference.

Official Paxini Bundle

Paxini MIDAS Hand Tactile Bundle

Paxini direct AliExpress

Official Paxini tactile kit for MIDAS Hand: 3 PX6AX-GEN3-DP-S2015-Elite fingertip sensors, 1 PX6AX-GEN3-DP-M2826-Omega thumb sensor, 1 high-speed communication board, and 4 DF53 280 mm connection cables. Check RIFs/Paxini ordering notes, export restrictions, and shipping availability for your location before ordering.

Dynamixel Itemized bundle reference

Part	Qty	Unit	Total	Vendor	More
Dynamixel Actuators	13	$189.75	$2,466.75	ROBOTIS	Details Part number XM335-T323-T Source ROBOTIS product page Notes 13 active actuators for the hand.
Dynamixel Starter Kit	1	$68.66	$68.66	ROBOTIS	Details Part number 902-0161-300 Source ROBOTIS product page Notes Use two X3P 100 mm cables.
TTL X3P Cable, 180 mm	1	$21.85	$21.85	ROBOTIS	Details Part number 903-0249-000 Source ROBOTIS product page Notes Pack of 10, ideally replaced with a 100 mm X3P cable.

Included with Dynamixel purchases 5 items / no separate cost

Part	Qty	Unit	Total	Vendor	More
TTL X3P Cable, 100 mm	1	Included	Included	ROBOTIS	Details Part number -- Source Included with the Dynamixel Starter Kit. Notes One 100 mm X3P cable is included with the starter kit.
Horn for XM335	13	Included	Included	ROBOTIS	Details Part number -- Source Included with motor packages. Notes Contained inside motor packages.
M1.7x4 Cheese Head Screws	36	Included	Included	ROBOTIS	Details Part number CHS_M1_7X04 Source Included with motor packages. Notes Contained inside motor packages.
M2x4 Pan Head Screws	100	Included	Included	ROBOTIS	Details Part number PHS_M2X04 Source Included with motor packages. Notes Contained inside motor packages.
Actuator Horn Screws	13	Included	Included	ROBOTIS	Details Part number FHS_M2X06 Source Included with motor packages. Notes Contained inside motor packages.

Paxini Tactile Itemized bundle reference

Part	Qty	Unit	Total	Vendor	More
Finger Tactile Sensor	3	$29.30	$87.90	Paxini	Details Part number PX6AX-GEN3-DP-S2015-Elite Source Paxini product page / AliExpress fallback Notes Check RIFs/Paxini ordering notes first. Depending on location and shipping, builders may need to buy this through AliExpress.
Thumb Tactile Sensor	1	$176.46	$176.46	Paxini	Details Part number PX6AX-GEN3-DP-M2826-Omega Source Paxini product page / AliExpress fallback Notes Check RIFs/Paxini ordering notes first. Depending on location and shipping, builders may need to buy this through AliExpress.
Tactile Sensor Wire	4	$2.94	$11.76	Paxini	Details Part number DF53_280 Source Paxini product page / AliExpress fallback Notes Check RIFs/Paxini ordering notes first. Depending on location and shipping, builders may need to buy this through AliExpress.
Paxini High-speed Communication Board	1	$73.50	$73.50	Paxini	Details Part number -- Source Paxini product page / AliExpress fallback Notes Check RIFs/Paxini ordering notes first. Depending on location and shipping, builders may need to buy this through AliExpress.

Hardware and Fasteners 7 items / $75.65

Part	Qty	Unit	Total	Vendor	More
TTL Communication Board	1	$13.43	$13.43	JLCPCB	Details Part number -- Source JLCPCB quote page Notes Customized PCB; use the ordering instructions below.
TTL Communication Board Ordering Repository download and JLCPCB order guide Open the midas_hand_communication_board repository. Click the Code button, then choose Download ZIP. Unzip the downloaded repository on your computer. Watch the JLCPCB ordering walkthrough below before submitting the PCB order. If the KW30-3S-1H(800) connector is unavailable, watch the second video below for the alternate part order workflow.
Actuator Bearing	132 packs	$8.49	$16.98	Amazon	Details Part number MR117-2RS Source Amazon listing Notes Pack of 10.
Linkage Bearing	182 packs	$7.89	$15.78	Amazon	Details Part number 681XZZ Source Amazon listing Notes Pack of 10.
1.5mmx8mm Dowel Pin	151 pack	$5.69	$5.69	Amazon	Details Part number hta250711hh000110 Source Amazon listing Notes Pack of 55 pcs.
M2x6 Socket Head Screws	521 pack	$6.59	$6.59	Amazon	Details Part number a25041400ux2547 Source Amazon listing Notes Pack of 100, shared with other subassemblies.
M1.4x4 Socket Head Screws	151 pack	$7.19	$7.19	Amazon	Details Part number f24080100ux0476 Source Amazon listing Notes Pack of 50, shared with other subassemblies.
M1.6x16 Socket Head Screws	41 pack	$9.99	$9.99	Amazon	Details Part number a15112300ux0621 Source Amazon listing Notes Pack of 50.

3D Printed Parts 52 total prints / 27 part types

Part	Qty	Source	More
Finger MCP Roll Horn	3	CAD page	Details Included in printable CAD/STL/3MF release.
Finger MCP Roll Bearing Holder	3	CAD page	Details Included in printable CAD/STL/3MF release.
Servo Horn	4	CAD page	Details Included in printable CAD/STL/3MF release.
Servo Bearing Holder	4	CAD page	Details Included in printable CAD/STL/3MF release.
Finger DIP Linkage Base	3	CAD page	Details Included in printable CAD/STL/3MF release.
Finger DIP Linkage	3	CAD page	Details Included in printable CAD/STL/3MF release.
Finger Side Phalange Bearing Holder	3	CAD page	Details Included in printable CAD/STL/3MF release.
Finger Side Phalange Horn	3	CAD page	Details Included in printable CAD/STL/3MF release.
Finger Wire Fixture	3	CAD page	Details Included in printable CAD/STL/3MF release.
Finger DIP	3	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb CMC Joint Bearing Holder	1	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb CMC Joint Servo Horn	1	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb CMC Fixture	1	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb DIP 1	1	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb DIP 2	1	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb Wire Fixture 1	1	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb Wire Fixture 2	2	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb Wire Fixture 3	1	CAD page	Details Included in printable CAD/STL/3MF release.
U2D2 Mounting Lock	3	CAD page	Details Included in printable CAD/STL/3MF release.
Palm Wire Fixture	1	CAD page	Details Included in printable CAD/STL/3MF release.
Palm Top	1	CAD page	Details Included in printable CAD/STL/3MF release.
Thumb Wire Fixture 4	1	CAD page	Details Included in printable CAD/STL/3MF release.
Palm Bottom	1	CAD page	Details Included in printable CAD/STL/3MF release.
Palm TPU Palm	1	CAD page	Details Included in printable CAD/STL/3MF release.
Palm Cover	1	CAD page	Details Included in printable CAD/STL/3MF release.
Palm Cover Cap	1	CAD page	Details Included in printable CAD/STL/3MF release.
PCB Fixture	1	CAD page	Details Included in printable CAD/STL/3MF release.

Recommended Tools 1 item / $49.99 (optional)

Tool	Qty	Unit	Total	Vendor	More
JOREST 155-in-1 Mini Electric Precision Screwdriver	1	$49.99	$49.99	Amazon	Details Source Amazon listing Notes Optional cordless precision screwdriver with magnetic bits; speeds up assembly of small fasteners. Not required for the build.