YEAH (Yeah Hand, ex Rebelia)

YEAH, formerly Rebelia, is the open-source 3D-printed hand of Vittorio Lumare's RobotGarage in Crotone, Italy. Five fingers with 15 joints are driven by just 5 Waveshare ST3215-HS bus servos placed outside the fingers and connected through fishing-line tendons. The five active degrees of freedom are index flexion, middle flexion, combined ring and little finger flexion, thumb flexion and thumb rotation.

Each servo reports torque, enabling adaptive grasping with a programmable torque limit of 12 kg per centimetre; 20 and 30 kg per centimetre servo options exist. The hand lifts up to 8 kg, holds 5 kg in a power grasp and 0.5 kg in a pinch. Parts are printed in ABS, TPU and PLA. Control runs over serial or Bluetooth on an ESP32 servo driver, and a ROS driver is available.

Hardware is licensed CERN-OHL-S-2.0, software GPL-3.0-or-later and documentation CC BY-SA 4.0; the earlier Rebelia V1 was OSHWA certified. According to Tindie, October 2026, an assembled hand costs 912 USD, the basic kit 217 USD and the full kit 399 USD. Weight is not published and a version 2 is in development. The seven-servo Aero Hand Open is the closest open alternative.