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Rebelia Robotic Hand

A low cost robotic hand for robots and humans

vittorio-lumareVittorio Lumare
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This is the Rebelia Robotic Hand project, we aim to make a low cost robotic hand for humans and robots. The hand will be affordable and reliable. It will be produced in 2 versions: robotic ( for manipulators, humanoid and service robots) and prosthetic (transradial amputees). We believe that groundbreaking technology shouldn't be locked away in high-cost labs. It should be in the hands of developers, researchers, and makers like you. Join the rebellion. Let's build the future, affordably.

https://www.robotgarage.org/wp-content/uploads/2024/10/output-7.webp


From Prototype to Product: Forging the Rebelia Robotic Hand

The Rebelia Robotic Hand works. 

We've moved past the concept stage and have a functional prototype that has proven its basic reliability. 

But now comes the hard part: transforming this prototype into a robust, consumer-ready product that can handle real-world tasks, and we need your help to do it.

Proven Durability: It's Not Just a Demo 

Our latest stress test pushed the hand through 500 open/close cycles of all fingers with a 330 unit force limit. 

The result? 

The hottest motor stabilized at a cool 58°C. Even after 800 cycles, the temperature held steady, proving the design is stable for continuous use. 

This isn't a fragile lab toy: it's a platform ready for refinement.


The Challenge: Beyond the Basics 

A hand that can just open and close is useful, but a great hand can perform a vast range of manipulations. 

We've identified key use-cases it needs to master:

use-cases picture taken from here, under CC-BY-4.0

But our list isn't exhaustive. What are we missing? 

Suggest scenarios we haven't considered. Is it wielding a tool? 

Manipulating a delicate object? 

Performing a specific task in a workshop or kitchen?



An Open Invitation to Collaborate 

This is a copy-left, open-source project. It belongs to all of us. 

The potential technological solutions—from novel grip-pattern algorithms and sensor fusion to new materials and actuation methods—are infinite.



We challenge you to propose solutions, and we commit to implementing and testing the best ideas.

This isn't private, closed tech.

It's an open platform, it's affordable by design, and together, we can make it the best it can be.



Let's build the future of accessible robotics, together.

Little Pads Mold.stl

[PLA/ABS] The mold to inject the silicone pads for the little finger.

Standard Tesselated Geometry - 3.87 MB - 11/23/2025 at 22:15

Download

Little Rigid.stl

[PLA/ABS] The rigid part of the little finger. It must be printed together with the 'Little Flex.stl'

Standard Tesselated Geometry - 90.32 kB - 11/23/2025 at 22:14

Download

Little Flex.stl

[TPU] The flexible part of the little finger. It must be printed together with the 'Little Rigid.stl' Postprocessing required: Silicone Injection with 'Little Pads Mold.stl'.

Standard Tesselated Geometry - 13.75 MB - 11/23/2025 at 22:14

Download

Middle Pads Mold.stl

[PLA/ABS] The mold to inject the silicone pads for the middle finger.

Standard Tesselated Geometry - 3.87 MB - 11/23/2025 at 22:13

Download

Middle Rigid.stl

[PLA/ABS] The rigid part of the middle finger. It must be printed together with the 'Middle Flex.stl'

Standard Tesselated Geometry - 90.32 kB - 11/23/2025 at 22:12

Download

View all 19 files

  • 1 × Creality Hyper ABS Filament Spool Skeleton and spools
  • 1 × PolyFlex TPU 95A Filament Spool Fingers and palm
  • 1 × Raise3D Pemium PLA Filament Spool Covers, fingers
  • 5 × WaveShare ST3215HS Servomotor Tendon flexion and extension, Thumb rotation
  • 1 × WaveShare ESP32 Servo Driver Board The brain of the hand

View all 11 components

  • New Finger Design

    Vittorio Lumare • 15 hours ago • 0 comments

    The new design reduces dramatically the amount of TPU used, in favor of more PLA.

    Previous finger design: 80% TPU, 20% PLA

    New finger design:

    • 95% PLA for Fast Print
    • 5% TPU for Flexible and Durable Joints
    • PLA/TPU Interlocking mad in CAD for fine control 


    At the moment this part is called 'Index Research.stl', you can find it in the FILES section.

    Soon we will apply this to all other fingers, updating the related files.

    TPU Part


    PLA Part

  • FILES RELEASED

    Vittorio Lumare • a day ago • 0 comments

    The first set of STL files has been released.

    Now you can start 3D printing and assembling the hand.


    NOTE 1 : The Ring finger is the same as the Index finger.

    The index finger model files have been tagged with the "RESEARCH" word, because I am still working on it to make pinch grasp more reliable.

    Once Index Research comes to its final version, the change will be applied to all other fingers.

    As you can see the other fingers are pre-flexed, an that's right. It's to make sure they won't bend ackwardly backwards when opening the hand.

    The Index Research are not pre-flexed because I need to finalize its usage firstly. Once completed, I will release also the preflexed version.


     NOTE 2: Fingers require DUAL MATERIAL PRINT (PLA + TPU) AND SILICONE INJECTION.

    If anybody needs a version for a SINGLE MATERIAL PRINT, or WITHOUT SILICONE INJECTION, please just ask and I will make alternative versions for you.

    Happy 3DPrinting and Assembling!

  • [Ongoing] More DOFs and more weight DILEMMA

    Vittorio Lumare • 11/06/2025 at 21:15 • 0 comments

    [WIPWe are struggling to decide if it's worth adding more DOFs to Rebelia.

    On the left, current version, on the right, the modified version. 

    It weights 150g more and has 2 extra DOFs .

    The advantage of having more DOFs would be :

    • possibility to move ring and little independently
    • possibility to control the proximal joint of each finger, and this would allow a lot of more applications, like the Pinch Grasp.

    Effects on the Pinch Grasp are shown here:


    So .. what do you think? Shall we add 2 more DOFs or is better to save 150g ?

    A new Hope

    So, after reading your comments in the LinkedIn post, we decided to keep the hand lightweight. 

    In order to obtain more stiffness on the PIP joint, we increased its thickness as shown in the picture below.

    Now the finger shall be more straight during the pinch grasp gesture.

    We will test the feature and report the results soon.



  • [Solved] - Index got stuck while releasing an object

    Vittorio Lumare • 11/04/2025 at 16:03 • 1 comment

    The index finger got stuck during the releasing of a water bottle and then it stops moving.

    Is anybody able to understand the reason for this?

    While our team works on a solution, I ask to all you hackers to give some advice!

  • Automatic Tendon Calibration

    Vittorio Lumare • 11/02/2025 at 21:05 • 0 comments

  • Basic Grasp Operations

    Vittorio Lumare • 11/02/2025 at 21:04 • 0 comments

  • X X X Dangerous Situations ! !

    Vittorio Lumare • 11/02/2025 at 20:59 • 0 comments

    We want to show here all dangerous situations that happened to us, so you can be aware of them and take precautions to prevent accidents.

  • Upper Cover

    Vittorio Lumare • 11/02/2025 at 18:28 • 0 comments

    We mounted the upper cover on the hand..

  • Rebelia Naked

    Vittorio Lumare • 11/02/2025 at 18:27 • 0 comments

    Rebelia Robotic Hand..without covers.


  • Early Prototypes

    Vittorio Lumare • 11/02/2025 at 18:23 • 0 comments

    Early Prototypes of the robotic hand..


View all 11 project logs

  • 1
    Health and Safety

    The following section explains the meaning of the symbols used throughout the manual. Please make sure you have grasped the meaning of each relevant symbols to prevent dangerous circumstances.

    READ INSTRUCTIONS MANUAL


    MANDATORY USE OF THE VICE


    MANDATORY USE OF THE PLIERS

    DO NOT SPRAY LIQUIDS ON THE GRIPPER


    DANGER OF CUTTING FINGERS BY TENDONS

    DANGER OF FALLING OBJECT FROM ABOVE

    DANGER OF FLYING OBJECT



    DANGER OF FIRE

    DANGER OF HOT SURFACES

    DANGER OF CUTTING BODY PARTS


    DANGER OF CRUSHING BODY PARTS



    DANGER OF HARMFUL SUBSTANCES


    DANGER HIGH VOLTAGE ELECTRICITY

    §

  • 2
    Maintenance

    !! DO NOT PULL TENDONS WITH YOUR BARE HANDS !!


    MANDATORY


    • Use the vice to hold still the part to be worked on


    • Use the pliers to pull the tendons

    POSSIBLE INJURIES:


    • Severe cuts to fingers


    • Severe bleeding requiring immediate surgery

    Put in Service

    BEFORE TO PUT IN SERVICE THE COMPLETE MACHINERY WHICH WILL INTEGRATE THE GRIPPER, THE FOLLOWING SYMBOLS MUST BE APPLIED TO THE FINAL PRODUCT, SO THAT THEY ARE ALWAYS VISIBLE TO THE PEOPLE PRESENT IN THE VICINITY






  • 3
    Normal Functioning

    People near the Gripper

    ATTENTION: the gripper could break while using the machinery!

    POSSIBLE INJURIES: If the gripper breaks, some broken parts may be sharp or pointed and could cut people's skin and cause permanent injuries or bleeding and/or require immediate surgery.

    Gripper holding an object


    ATTENTION: An object could break away from the gripper and hit a person.

    POSSIBLE INJURIES: A thrown object could cause: broken bones, cutting or piercing, or burns if it’s very hot, or contamination if it contains or is made from harmful substances.

    Interaction with people

    ATTENTION: Fingers or human skin can get caught in the machinery mechanisms and get severely injured.

    POSSIBLE INJURIES: A finger can be crushed, causing severe bruising to the skin or nails. A nylon tendon can cut a hand finger, causing bleeding where immediate surgery is required. Sharp edges can cut the skin, causing bleeding or bruising.

View all 9 instructions

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