RAPID Hand: A Robust, Affordable,
Perception-Integrated, Dexterous Manipulation Platform
for Generalist Robot Autonomy
Zhaoliang Wan
·
Zetong Bi
·
Zida Zhou
·
Hao Ren
·
Yiming Zeng
·
Yihan Li
Lu Qi
·
Xu Yang
·
Ming-Hsuan Yang
·
Hui Cheng
- [2025-06] RAPID Hand full system released with mechanical, electrical, and software modules.
- [2025-06] We release the paper of RAPID Hand.
This repository is an official implementation of RAPID Hand, which is a low-cost, high-fidelity, modular hardware-software platform for dexterous hand manipulation, consisting of:
- RapidHandHardware: Detailed hardware design (PCBs, 3D printable parts, bill of materials).
- RapidTeleop: Vision-guided teleoperation suite with intuitive user control.
It enables researchers and hobbyists to easily replicate complex hand hardware for manipulation tasks at a much lower cost.
Please refer to the sub-repository READMEs for detailed instructions:
- 🧩 RapidHandHardware: mechanical design, PCB setup, and system integration for the RAPID Hand platform.
- 🖥️ RapidTeleop: teleoperation interface, ROS setup, and control pipeline for both simulation and real hardware.
- Release hardware and BOM.
- Upload software for teleop and control.
- Extend to multiple hand variants and task types.
If you use our project, please cite:
@article{wan2025rapid,
title={RAPID Hand: A Robust, Affordable, Perception-Integrated, Dexterous Manipulation Platform for Generalist Robot Autonomy},
author={Wan, Zhaoliang and Bi, Zetong and Zhou, Zida and Ren, Hao and Zeng, Yiming and Li, Yihan and Qi, Lu and Yang, Xu and Yang, Ming-Hsuan and Cheng, Hui},
journal={arXiv preprint arXiv:2506.07490},
year={2025}
}This project is licensed under the Creative Commons BY-NC-SA 4.0 License.
This project was developed with help of the following codebases.
We would also like to thank 
ORBOT Ltd. for their support on the robot hardware and LUSTER for motion capture devices. We sincerely appreciate the contributions from all related institutions and authors.