SO-ARM101 & AmazingHand Open Source Dexterous Hand Robotic Arm

Product Overview

The SO-ARM101 & AmazingHand is a complete open-source embodied AI platform that pairs the SO-ARM101 6-axis robotic arm with the AmazingHand 8-DOF four-finger dexterous hand. The stock parallel gripper is replaced by a four-finger hand driven from a single leader-arm servo, delivering synchronized four-finger grasping and extension through a simple, reliable, factory-assembled mechanism. Built on the Hugging Face LeRobot ecosystem, it supports leader-follower teleoperation, dual-view data collection and end-to-end imitation learning with ACT, SmolVLA, Pi0, Pi0.5 and GR00T N1.5 — the easiest starting point for moving from a gripper to a dexterous hand.

SO-ARM101 is an open-source 6-axis robotic arm deeply optimized from SO-ARM100. Revised cable routing and motor/gear pairings eliminate the joint cable-breakage issue and no longer restrict the range of motion of the joints, while supporting real-time leader-follower following and seamless compatibility with the Hugging Face LeRobot toolkit.

AmazingHand is an open-source, low-cost, fully 3D-printable 8-DOF robotic hand development kit. Its servos are housed entirely inside the hand body with a cable-free internal design, and each finger is driven by two joints, combining dexterity with natural inter-finger collaboration.

Every unit ships factory assembled, wired and calibrated, dispatched by SF Express with free shipping. Invoices are available on request.

Key Advantages

• Four-Finger Dexterous Hand with 8 Degrees of Freedom

  AmazingHand provides four fingers (thumb, index, middle and ring), two articulated phalanges per finger and 8 degrees of freedom in total. A parallel linkage mechanism lets the fingers work together for a more natural grasp, while every servo sits inside the hand body with no external cabling for a compact, clean build.

• Single-Servo Linkage Drives All Four Fingers

  The No.6 servo (STS3215) on the leader arm drives all eight SCS0009 bus servos inside the hand through range mapping, so a single motion produces synchronized four-finger grasping (closed fist) or extension (open palm). Simple mechanics, reliable control, and no complex hand-side programming.

• End-to-End Imitation Learning with ACT, SmolVLA, Pi0, Pi0.5 and GR00T N1.5

  Run leader-follower teleoperation to record demonstration data, then train an imitation learning policy in a single pass. A small dataset is enough for the follower arm to complete preset grasping tasks autonomously, and the whole loop can be closed without writing code from scratch.

• Dual-View Data Collection

  An overhead bracket camera covers the entire workspace from above to establish the spatial position and orientation of target objects, while a desk-stand side-view camera streams workspace context in real time. Together they keep manipulation precise, respond quickly to changes in the scene, and prevent drift or stalling.

• Factory Assembled, Ready to Use Out of the Box

  Each unit ships assembled, wired and calibrated — connect power and USB and the platform is ready for teleoperation and data collection. Camera options include an 86° auto-focus 30FPS module and a 100° wide-angle fixed-focus 60FPS module, USB driver-free and plug-and-play.

• Seamless Hugging Face LeRobot Integration

  Reuse LeRobot's pretrained models, datasets and algorithm libraries directly, share code and experience with a global developer community, and enter embodied AI without rebuilding the toolchain yourself.

Hardware Overview

Available Versions (Select based on your end effector needs):

Grasp method: the Pro Version uses two-finger pinching, while the Dexterous Hand Version uses four-finger grasping and extension. Independent per-finger control is not supported in the current version and is on the development roadmap.

Compatible Devices:

Raspberry Pi / D-Robotics RDK / NVIDIA Jetson series controllers, plus Windows and Linux host PCs over USB serial. Fully compatible with the LeRobot SO-ARM101 and AmazingHand open-source projects, and supports most serial bus servos on the market.

3-Step Easy Setup:

• Connect the servo driver board to your Raspberry Pi, RDK or Jetson controller with the supplied cable, then power the leader arm (DC5521 5V6A) and the follower arm (DC5521 12V5A).

• Power on and connect over USB serial. The arm and hand ship assembled, wired and calibrated — no mechanical assembly or servo ID setup is required.

• Follow the provided LeRobot tutorials to teleoperate the follower arm, collect dual-view datasets and train your imitation learning policy.

Technical Specifications

Dexterous Hand (AmazingHand)

Robotic Arm (SO-ARM101)

Servo Configuration

SCS0009 Bus Servo (Dexterous Hand)

STS3215 Bus Servo (Robotic Arm)

The STS3215 integrates two high-quality magnetic encoder motors with millisecond-level coordinated response and multiple operating modes, keeping every arm motion smooth and precise.

JUXI Bus Servo Adapter (Driver Board)

The board features a compact plug-and-play design with a TVS voltage-regulation protection module to prevent high-voltage breakdown. A single cable connects it to Raspberry Pi, D-Robotics RDK or NVIDIA Jetson controllers for real-time motor control and encoder data feedback. It supports the LeRobot SO-ARM101 arm, the AmazingHand dexterous hand and most serial bus servos on the market.

Camera Module (Optional)

Applications

• University research — teaching labs and research projects in robotics, artificial intelligence and automation, particularly dexterous grasping and imitation learning.

• Developers and makers — algorithm development, prototype validation, secondary development of the dexterous hand, and robotics competitions.

• Educational institutions — an ideal teaching aid for advanced courses in AI programming and robot vision.

• Enthusiasts — build a desktop robot that puts real AI techniques to work and grasps with a human-like hand.

Open Source & Ecosystem

This product is built on the open-source LeRobot SO-ARM101 project and the AmazingHand project. The SO-ARM101 & AmazingHand platform connects seamlessly to the Hugging Face community: LeRobot's pretrained models, datasets and algorithm libraries can be reused directly, and code and experience can be shared with developers worldwide — lowering the technical barrier to entering embodied AI.

• Source code is released under the Apache License 2.0.

• Mechanical design files are released under the CC BY 4.0 license.

Technical Support

A complete, step-by-step replication tutorial covers the full workflow, so even users with no programming background can reproduce and deploy the platform without barriers. Search for "JuxiTechnology" on GitHub or Gitee to view the materials, or contact our support team if you run into any issues.

• Full assembly, wiring and calibration reference.

• Leader-follower teleoperation setup and servo ID configuration.

• Dual-view camera mounting and LeRobot dataset collection guide.

• Imitation learning training and deployment walkthroughs (ACT, SmolVLA, Pi0, Pi0.5, GR00T N1.5).

For detailed technical documentation on software setup and code implementation, please refer to our official Wiki:
Access Here (SO-ARM101 Robotic Arm Tutorial)
Access Here (AmazingHand Dexterous Hand Tutorial)
Community technical support is also available to help you accelerate project implementation.

Package Options

Part List

SO-ARM101 Dexterous Hand Kit:

• 1 x Leader arm (assembled) — 1 x STS3215-C001 (7.4V, 1:345), 2 x STS3215-C044 (7.4V, 1:191), 3 x STS3215-C046 (7.4V, 1:147)

• 1 x Follower arm (assembled) — 5 x STS3215-C018 (12V, 1:345)

• 1 x AmazingHand four-finger dexterous hand (assembled) — 8 x SCS0009-C001 (6V) bus servos

• 2 x JUXI Bus Servo Adapter (servo driver board)

• 1 x DC5521 5V6A power supply cable (leader arm)

• 1 x DC5521 12V5A power supply cable (follower arm)

• 2 x USB Type-C cable

• 4 x Fixing clip

• 1 x USB hub

SO-ARM101 Dexterous Hand Kit (Dual Camera):

Everything in the SO-ARM101 Dexterous Hand Kit, plus:

• 1 x Overhead (top-view) camera mount kit with 2MP 1080P camera module

• 1 x Desk-stand side-view camera kit with 2MP 1080P camera module

SO-ARM101 Pro (TPU Gripper):

• 1 x Leader arm (assembled) — 1 x STS3215-C001 (7.4V, 1:345), 2 x STS3215-C044 (7.4V, 1:191), 3 x STS3215-C046 (7.4V, 1:147)

• 1 x Follower arm (assembled) with TPU flexible gripper — 6 x STS3215-C018 (12V, 1:345)

• 2 x JUXI Bus Servo Adapter (servo driver board)

• 1 x DC5521 5V6A power supply cable (leader arm)

• 1 x DC5521 12V5A power supply cable (follower arm)

• 2 x USB Type-C cable

• 4 x Fixing clip

• 1 x USB hub

Amazing Hand（Right Hand）:

• 1 x AmazingHand four-finger dexterous hand, fully assembled with 8 x SCS0009-C001 (6V) bus servos

• 1 x JUXI Bus Servo Adapter (servo driver board)

• 1 x Interconnect cable