Parts Information

LEAP Hand can be assembled in under three hours. Visit Assembly for Instructions.

LEAP Hand Full costs under $2000.
Lite is identical in construction, assembly and control.
It has weaker, less durable motors. Good for education or demos and costs ~$700.
We have now have full parts kits of LEAP Hands available in limited numbers!!! Please email me!
Please email me with any questions at

Dynamixel Components

Item Name Quantity Cost (ea.) Total

For Lite, substitute Full Motors with weaker motors
Buy either Full OR Lite.

These often go out of stock,
check in with Dynamixel Support
if you need it quickly.
International Site
16 Full: $89.99

Lite: $23.90
Full: $1439.84

Lite: $382.40
DYNAMIXEL FPX330-H101 11 $9.80 (4 pc) $29.40
In large accidents,
these will break to protect
the rest of the hand.
Buy extras if you need.
$9.80 (4pc) $29.40
DYNAMIXEL FPX330-S102 6 $9.80 (4pc) $19.60
DYNAMIXEL U2D2 1 $32.10 $32.10
You can also build your own
power cable with 5 dynamixel leads
and 1 power lead instead for
a cleaner setup. See Instructions.
1 $19.00 $19.00
XT30 Pigtail
Use this to build your own cable instead of the PowerHub.
These are not strictly necessary, but they're helpful:
JST EH Cable (15x)
JST EH Housing (5x)
1 $9.00 $9.00
Other Misc. Parts
Name Quantity Cost (ea.) Total
M3 6mm 3D printer Inserts 5 $19.00 (variety) $19.00
M2 6mm 3D printer Inserts 24 Variety Pack N/A
M2 8mm Screws 16 $19.00 (variety) $19.00
M2 10mm Screws 24 $19.00 (variety) $19.00
M2 6mm Screws 4 Variety Pack N/A
M3 6mm Screws 5 Variety Pack N/A
Polymaker PLA Pro (~200g) 1 $19.99 $19.99
Ninjaflex Edge (100g) 1 $49.44 $49.44
Power Supply (5v 30a) 1 $19.99 $19.99
Power Cable AC
(Change for your Country)
1 $7.00 $7.00
14 AWG 5v Cable 1 $9.99 $9.99
Grip Tape 1 $29.99 $29.99
Cost (Regular):
As of Aug 2023

Dynamixel: $1578.34

Other Parts: $193.40

Total: $1771.74

Cost (Lite):
As of Aug 2023

Dynamixel: $520.90

Other Parts: $193.40

Total: $714.30

Contact us at if you need help obtaining parts.

Tools Required

Name Quantity Cost (ea.) Total
M2 and M3 Hex Wrenches 1 $9.99 (variety) $9.99
Phillips: PH00 Screwdriver 1 $9.99
(Highly recommend a
motorized screwdriver)
Ender 3 S1 1 $299.99 $299.99
Soldering Iron
These tips are useful but not necessary.
1 $12.99 $12.99

3D Printed Parts

Item Name Quantity
Palm Lower 1
Palm Upper
This depends on your arm.
We provide xArm mounting as well
as a blank that you can
customize to your arm.
Cable Spacer
MCP Bracket
DIP Spacer
Fingertip (Soft or Hard)

Please go to the CAD tab to download the files.


We use Ender 3 S1 Pro.
Any deposition-based printer will work, but direct drive such as S1 is required for flexible filament.


I recommend Cura 5, choose your correct printer. With Cura and the regular quality setting, all parts can be printed in under 24 hours.

Settings (PLA):
  • Palm: 60% Infill, supports.
  • Rest: 100% Infill, no support.
  • 200C Nozzle and 60C Bed
  • Settings (Ninjaflex Edge for Optional Soft Fingertips):
  • 20% Infill, no support.
  • 240C Nozzle and 60C Bed
  • ~25 mm/s speed