OpenArm 2.0

Everything about the OpenArm 2.0 is public: Enactic, a robotics lab in Tokyo's Chiyoda ward, releases the design under Apache-2.0 for software and CERN-OHL-S-2.0 for hardware. The product is a bimanual arm system rather than a complete humanoid. Two 7-joint arms give 14 degrees of freedom, each rated for 4.1 kg nominal and 6 kg peak.

Backdrivable quasi-direct-drive motors from Damiao (DM-J4310-2EC, the DM4340 series and DM-J8009P-2EC) move the joints over CAN-FD, and every axis has mechanical end stops. The standard end effector is a two-finger parallel gripper with one degree of freedom and a built-in RGB camera; the OpenArm Cell package adds a ceiling camera.

The arms mount on a MISUMI frame sized for a person of 160 to 165 cm, run on mains power and carry no onboard computer: a Linux host drives them through ROS 2 and SocketCAN and can run LeRobot or VLA models, with teleoperation through the KER leader arm. System weight and height are not documented.

The bill of materials for a full bimanual setup is 6,500 USD according to the GitHub repository, and assembled kits from about a dozen vendors range from 4,699 to 7,080 USD, for example the WowRobo OpenArm 2 at 6,500 USD (October 2026). It serves physical-AI research, data collection and contact-rich tasks. A commercial fixed-torso counterpart is PR-34D.