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Open Arms is a novel open-source platform of realistic human-like robotichands and arms hardware with 28 Degree-of-Freedom (DoF), designed to extend thecapabilities and accessibility of humanoid robotic grasping and manipulation.The Open Arms framework includes an open SDK and development environment,simulation tools, and application development tools to build and operate OpenArms. This paper describes these hands controls, sensing, mechanisms, aestheticdesign, and manufacturing and their real-world applications with a teleoperatednursing robot. From 2015 to 2022, the authors have designed and established themanufacturing of Open Arms as a low-cost, high functionality robotic armshardware and software framework to serve both humanoid robot applications andthe urgent demand for low-cost prosthetics, as part of the Hanson RoboticsSophia Robot platform. Using the techniques of consumer product manufacturing,we set out to define modular, low-cost techniques for approximating thedexterity and sensitivity of human hands. To demonstrate the dexterity andcontrol of our hands, we present a Generative Grasping Residual CNN (GGR-CNN)model that can generate robust antipodal grasps from input images of variousobjects in real-time speeds (22ms). We achieved state-of-the-art accuracy of92.4% using our model architecture on a standard Cornell Grasping Dataset,which contains a diverse set of household objects.

Open Arms: Open-Source Arms, Hands & Control