[2603.26660] Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning

Computer Science > Robotics arXiv:2603.26660 (cs) [Submitted on 27 Mar 2026] Title:Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning Authors:Xinqi (Lucas)Liu, Ruoxi Hu, Alejandro Ojeda Olarte, Zhuoran Chen, Kenny Ma, Charles Cheng Ji, Lerrel Pinto, Raunaq Bhirangi, Irmak Guzey View a PDF of the paper titled Ruka-v2: Tendon Driven Open-Source Dexterous Hand with Wrist and Abduction for Robot Learning, by Xinqi (Lucas) Liu and 8 other authors View PDF HTML (experimental) Abstract:Lack of accessible and dexterous robot hardware has been a significant bottleneck to achieving human-level dexterity in robots. Last year, we released Ruka, a fully open-sourced, tendon-driven humanoid hand with 11 degrees of freedom - 2 per finger and 3 at the thumb - buildable for under $1,300. It was one of the first fully open-sourced humanoid hands, and introduced a novel data-driven approach to finger control that captures tendon dynamics within the control system. Despite these contributions, Ruka lacked two degrees of freedom essential for closely imitating human behavior: wrist mobility and finger adduction/abduction. In this paper, we introduce Ruka-v2: a fully open-sourced, tendon-driven humanoid hand featuring a decoupled 2-DOF parallel wrist and abduction/adduction at the fingers. The parallel wrist adds smooth, independent flexion/extension and radial/ulnar deviation, enabling manipulation in confined environments such as cabinets. Abduction ...