{"wikiid":643313,"langid":"en","namespace":"CATEGORY","title":"Orca Hand","revisionid":1447045,"contents_raw":"== Background Information ==\n\nThe ORCA (Open-source, Reliable, Cost-effective, Anthropomorphic) Hand, a partially 3D-printed tendon driven robotic hand developed by ETH Z\u00fcrich\u2019s soft robotics lab.\n\nThe hand itself is intended to be used for research and education purposes. It boasts high dexterity with 17 degrees of freedom and is fully open-source, with all the CAD files, software, and bill of materials freely available via the [link|https:\/\/www.orcahand.com|ORCA Hand website].\n\n== Additional Information ==\n\n* [link|https:\/\/www.orcahand.com|Official ORCA Hand Website]\n* [link|https:\/\/srl.ethz.ch\/orcahand.html|ETH Z\u00fcrich\u2019s soft robotics lab ORCA Hand Article]","contents_json":{"type":"doc","content":[{"type":"heading","attrs":{"level":2},"content":[{"type":"text","text":"Background Information"}]},{"type":"paragraph","content":[{"type":"text","text":"The ORCA (Open-source, Reliable, Cost-effective, Anthropomorphic) Hand, a partially 3D-printed tendon driven robotic hand developed by ETH Z\u00fcrich\u2019s soft robotics lab."}]},{"type":"paragraph","content":[{"type":"text","text":"The hand itself is intended to be used for research and education purposes. It boasts high dexterity with 17 degrees of freedom and is fully open-source, with all the CAD files, software, and bill of materials freely available via the "},{"type":"text","marks":[{"type":"link","attrs":{"href":"https:\/\/www.orcahand.com","target":false}}],"text":"ORCA Hand website"},{"type":"text","text":"."}]},{"type":"heading","attrs":{"level":2},"content":[{"type":"text","text":"Additional Information"}]},{"type":"bulletList","attrs":[],"content":[{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","marks":[{"type":"link","attrs":{"href":"https:\/\/www.orcahand.com","target":false}}],"text":"Official ORCA Hand Website"}]}]},{"type":"listItem","content":[{"type":"paragraph","content":[{"type":"text","marks":[{"type":"link","attrs":{"href":"https:\/\/srl.ethz.ch\/orcahand.html","target":false}}],"text":"ETH Z\u00fcrich\u2019s soft robotics lab ORCA Hand Article"}]}]}]}]},"contents_rendered":"<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Background_Information\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h2 id=\"Section_Background_Information\" class=\"header\">Background Information<\/h2><\/div>\n\n<p>The ORCA (Open-source, Reliable, Cost-effective, Anthropomorphic) Hand, a partially 3D-printed tendon driven robotic hand developed by ETH Z\u00fcrich\u2019s soft robotics lab.<\/p>\n\n<p>The hand itself is intended to be used for research and education purposes. It boasts high dexterity with 17 degrees of freedom and is fully open-source, with all the CAD files, software, and bill of materials freely available via the <a href=\"https:\/\/www.orcahand.com\" rel=\"nofollow noopener noreferrer\">ORCA Hand website<\/a>.<\/p>\n\n<div class=\"clearer\"><\/div><div class=\"headerContainer\"><a class=\"selfLink\" href=\"#Section_Additional_Information\" title=\"Link to this section\" aria-hidden=\"true\" tabindex=\"-1\"><span    class=\"fa-svg-icon\"><svg width=\"16\" height=\"16\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" viewBox=\"0 0 576 512\" overflow=\"visible\"><!--! Font Awesome Pro 7.3.1 by @fontawesome - https:\/\/fontawesome.com License - https:\/\/fontawesome.com\/license (Commercial License) Copyright 2026 Fonticons, Inc. --><path d=\"M427.5 88c-21.4 0-42.2 6.9-59.3 19.4-11.4-11.7-24.4-22.1-38.4-30.7 27-23.6 61.7-36.7 97.7-36.7 82 0 148.5 66.5 148.5 148.5 0 39.4-15.6 77.1-43.5 105l-79.1 79.1c-27.8 27.8-65.6 43.5-105 43.5-82 0-148.5-66.5-148.5-148.5 0-17.9 3.2-35.5 9.4-51.9 4.6-12.4 18.5-18.7 30.9-14.1S259 220 254.4 232.4c-4.2 11.1-6.4 23-6.4 35.2 0 55.5 45 100.5 100.5 100.5 26.6 0 52.2-10.6 71-29.4l79.1-79.1C517.4 240.6 528 215.1 528 188.5 528 133 483 88 427.5 88zm-200 56c-26.6 0-52.2 10.6-71 29.4L77.4 252.5c-18.8 18.8-29.4 44.4-29.4 71 0 55.5 45 100.5 100.5 100.5 21.4 0 42.2-6.9 59.3-19.4 11.4 11.8 24.4 22.1 38.4 30.7-27 23.6-61.7 36.7-97.7 36.7-82 0-148.5-66.5-148.5-148.5 0-39.4 15.6-77.1 43.5-105l79.1-79.1c27.8-27.8 65.6-43.5 105-43.5 82 0 148.5 66.5 148.5 148.5 0 17.9-3.2 35.5-9.4 51.9-4.6 12.4-18.5 18.7-30.9 14.1S317 292 321.6 279.6c4.2-11.1 6.4-23 6.4-35.1 0-55.5-45-100.5-100.5-100.5z\"\/><\/svg><\/span><\/a><h2 id=\"Section_Additional_Information\" class=\"header\">Additional Information<\/h2><\/div>\n\n<ul><li><a href=\"https:\/\/www.orcahand.com\" rel=\"nofollow noopener noreferrer\">Official ORCA Hand Website<\/a><\/li><li><a href=\"https:\/\/srl.ethz.ch\/orcahand.html\" rel=\"nofollow noopener noreferrer\">ETH Z\u00fcrich\u2019s soft robotics lab ORCA Hand Article<\/a><\/li><\/ul>","linked_wikis":[],"can_edit":true,"available_langids":["en","de","es","fr","it","jp","ko","nl","pt","ru","tr","zh"],"ancestors":[{"dataType":"wiki","wikiid":547693,"langid":"en","title":"Robotics","display_title":"Robotics","namespace":"CATEGORY","summary":"Repair information for robots, including VEX Robotics and other autonomous machines.","url":"https:\/\/www.ifixit.com\/Device\/Robotics","text":"Repair information for robots, including VEX Robotics and other autonomous machines.","image":{"id":3247614,"guid":"lauSofWrIr52gjYd","mini":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.mini","thumbnail":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.thumbnail","140x105":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.140x105","200x150":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.200x150","standard":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.standard","440x330":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.440x330","medium":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.medium","large":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.large","huge":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.huge","original":"https:\/\/guide-images.cdn.ifixit.com\/igi\/lauSofWrIr52gjYd.full"},"modified_date":1792691222,"author":4026158},{"dataType":"wiki","wikiid":1372,"langid":"en","title":"Electronics","display_title":"Electronics","namespace":"CATEGORY","summary":"An expansive variety of repair guides for electronic gear, ranging from home and car audio to calculators.","url":"https:\/\/www.ifixit.com\/Device\/Electronics","text":"An expansive variety of repair guides for electronic gear, ranging from home and car audio to calculators.","image":{"id":3076747,"guid":"V4m2ZCiaWdBcBZVT","mini":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.mini","thumbnail":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.thumbnail","140x105":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.140x105","200x150":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.200x150","standard":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.standard","440x330":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.440x330","medium":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.medium","large":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.large","huge":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.huge","original":"https:\/\/guide-images.cdn.ifixit.com\/igi\/V4m2ZCiaWdBcBZVT.full"},"modified_date":1793931282,"author":225663},{"dataType":"wiki","wikiid":11000,"langid":"en","title":"Root","display_title":"Root","namespace":"CATEGORY","summary":"","url":"https:\/\/www.ifixit.com\/Device\/Root","text":"Repair guides, manuals, and troubleshooting help for Root. Get everything you need to repair your Root yourself.","image":{"id":243440,"guid":"bhofAWyrmGwRFlak","mini":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.mini","thumbnail":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.thumbnail","140x105":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.140x105","200x150":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.200x150","standard":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.standard","440x330":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.440x330","medium":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.medium","large":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.large","original":"https:\/\/guide-images.cdn.ifixit.com\/igi\/bhofAWyrmGwRFlak.full"},"modified_date":1705097689,"author":1}],"created_date":1773924728,"modified_date":1774042836,"is_troubleshooting":false,"authors":[{"userid":4040552,"percent":85.71,"username":"Jacob Mehnert","avatar_url":"https:\/\/guide-images.cdn.ifixit.com\/igi\/FRXptpjtITUAGYCT.thumbnail","profile_url":"https:\/\/www.ifixit.com\/User\/4040552\/Jacob+Mehnert"},{"userid":4152395,"percent":14.29,"username":"Bill Gilbert","avatar_url":"https:\/\/guide-images.cdn.ifixit.com\/igi\/XF2HtcnjpXb4XA6l.thumbnail","profile_url":"https:\/\/www.ifixit.com\/User\/4152395\/Bill+Gilbert"}],"tags":[],"unreviewed_machine_translation":false,"flags":[],"image":{"id":4063305,"guid":"WaIAcdf2Jy11odHL","mini":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.mini","thumbnail":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.thumbnail","140x105":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.140x105","200x150":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.200x150","standard":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.standard","440x330":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.440x330","medium":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.medium","large":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.large","original":"https:\/\/guide-images.cdn.ifixit.com\/igi\/WaIAcdf2Jy11odHL.full"},"documents":[],"author":4040552,"display_title":"ORCA Hand","page_title":"ORCA Hand Repair","description":"The ORCA (Open-source, Reliable, Cost-effective, Anthropomorphic) Hand is a partially 3D printed robotic hand developed by ETH Z\u00fcrich's soft robotics lab. The ORCA Hand is designed for research and education, offers high dexterity with 17-DoF, and is fully open-source with all the CAD files, software, and bill of materials freely available.","children":[{"dataType":"wiki","wikiid":643315,"langid":"en","title":"ORCA v1","display_title":"ORCA Hand V1","namespace":"CATEGORY","summary":"The first iteration of the ORCA Hand was developed by the Soft Robotics Lab as an open-source, reliable, cost-effective, anthropomorphic robotic hand for uninterrupted dexterous task learning. The structure of the ORCA Hand is designed to closely replicate the structure and movement of a human hand, featuring 16 degrees of freedom in the fingers and one in the wrist.","url":"https:\/\/www.ifixit.com\/Device\/ORCA_v1","text":"The first iteration of the ORCA Hand was developed by the Soft Robotics Lab as an open-source, reliable, cost-effective, anthropomorphic robotic hand for uninterrupted dexterous task learning. The structure of the ORCA Hand is designed to closely replicate the structure and movement of a human hand, featuring 16 degrees of freedom in the fingers and one in the wrist.","image":{"id":4083262,"guid":"xsQUv6DykNKKjGTw","mini":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.mini","thumbnail":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.thumbnail","140x105":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.140x105","200x150":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.200x150","standard":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.standard","440x330":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.440x330","medium":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.medium","large":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.large","original":"https:\/\/guide-images.cdn.ifixit.com\/igi\/xsQUv6DykNKKjGTw.full"},"modified_date":1775082937,"author":4040552}],"category_lists":{},"featured_guides":[],"guides":[],"related_wikis":[],"solutions_url":"https:\/\/www.ifixit.com\/Answers\/Device\/Orca_Hand","parts":{"url":"https:\/\/www.ifixit.com\/Parts\/Orca_Hand","categories":[]},"tools":[],"repairability_score":null,"category_info":[],"source_revisionid":null,"diagrams":[],"info":[{"name":"Device Category","value":"Electronics","inheritedFrom":"Electronics"},{"name":"condition_belt_wear","value":"off","inheritedFrom":"Electronics"},{"name":"condition_brake_pad_thickness_mm","value":"off","inheritedFrom":"Electronics"},{"name":"condition_controller_runtime_hours","value":"off","inheritedFrom":"Electronics"},{"name":"condition_coolant_ph","value":"off","inheritedFrom":"Electronics"},{"name":"condition_filter_life_percent","value":"off","inheritedFrom":"Electronics"},{"name":"condition_filter_pressure_drop","value":"off","inheritedFrom":"Electronics"},{"name":"condition_oil_life","value":"off","inheritedFrom":"Electronics"},{"name":"condition_oil_life_percent","value":"off","inheritedFrom":"Electronics"},{"name":"condition_tire_tread_depth_mm","value":"off","inheritedFrom":"Electronics"},{"name":"condition_water_hardness","value":"off","inheritedFrom":"Electronics"},{"name":"condition_battery_cycle_count","value":"on","inheritedFrom":"Robotics"},{"name":"condition_battery_health_percent","value":"on","inheritedFrom":"Robotics"}],"maintenance_schedule":{"schedules":[],"notSuggested":[],"inheritedFrom":null,"langid":"en"}}