YUBI - Yielding Universal Bidigital Interface

Open Source Hardware for Dexterous Manipulation

🌐 Project page: yubi.airoa.io

YUBI is a finger-driven dexterous manipulation system developed by Frontier Research Center, Toyota Motor Corporation.

Part Overview

• YUBI Glove — A wearable device for collecting finger motion data during teleoperation.
• YUBI Gripper — A robot-mounted gripper actuated by DYNAMIXEL servos for dexterous manipulation.
• Stationary data collection desk — A desk-mounted rig for data collection.
• Portable data collection rig — A wearable rig for portable data collection.

Repository Structure

.
├── STEP/
│   ├── glove/       # YUBI Glove (teleoperation device) STEP files
│   ├── gripper/     # YUBI Gripper (robot-mounted, DYNAMIXEL) STEP files
│   ├── portable/    # Portable data collection rig STEP files
│   └── flange/      # Flange STEP files
├── STL/
│   ├── glove/                  # YUBI Glove STL files (for 3D printing)
│   ├── gripper/                # YUBI Gripper STL files (for 3D printing)
│   ├── portable/               # Portable data collection rig STL files
│   ├── stationary/             # Stationary data collection desk STL files
│   └── flange/                 # Flange STL files
├── docs/
│   ├── BOM/                    # Bill of Materials (CSV)
│   └── AssemblyInstruction/    # Assembly guides (PDF)
└── media/                      # Images for documentation

Supported Robot Flanges

The flange/ directories provide the parts for mounting the YUBI Gripper to a robot arm. Each supported arm uses a robot-specific flange together with a YUBI-side attachment, as listed below.

Robot arm	Flange	YUBI-side attachment
Franka	FRANKA_FLANGE	YUBI_ATTACHMENT
OpenArm	OPENARM_FLANGE	YUBI_ATTACHMENT
Unitree G1	UNITREE_G1_FLANGE	N/A

Getting Started

1. Check the Bill of Materials to source the required components.
2. 3D print parts using files in the STL directory.
3. Follow the Assembly Instructions to build the hardware.

Related Repository

• yubi-sw — Software (control, teleoperation)

Commercial Use

Commercial manufacturing and sale of products based on YUBI are permitted subject to CERN-OHL-W v2. See the Commercial Use Guidelines for practical guidance.

Contributors

Name	Affiliation	Role
Kazutomo Misao	Frontier Research Center, Toyota Motor Corporation	Project Lead
Yoshihiro Okumatsu	Frontier Research Center, Toyota Motor Corporation	Project Sub-Lead
Daiki Fukunaga	Frontier Research Center, Toyota Motor Corporation	Mechanical Design
Jumpei Arima	Frontier Research Center, Toyota Motor Corporation	Concept Design
Yuki Noguchi	Frontier Research Center, Toyota Motor Corporation	Concept Design
Makoto Sugiura	AI Robot Association	Data Collection Rig Design
Takehiko Ohkawa	AI Robot Association	Data Collection Concept Design
Masayoshi Tsuchinaga	Frontier Research Center, Toyota Motor Corporation	Core Maintainer
Yusuke Mizuoka	Frontier Research Center, Toyota Motor Corporation	Maintainer

Citation

If you use YUBI in your research, please cite:

@misc{ohkawa2026yubi,
      title={{YUBI}: Yielding Universal Bidigital Interface for Bimanual Dexterous Manipulation at Scale},
      author={Takehiko Ohkawa and Jumpei Arima and Yuki Noguchi and Masatoshi Tateno and Makoto Sugiura and Takuya Okubo and Kengo Ikeuchi and Yuma Shin and Hiroki Nishizawa and Naoaki Kanazawa and Yuki Wakayama and Daiki Fukunaga and Koshi Makihara and Tomohiro Motoda and Floris Erich and Yukiyasu Domae and Tatsuya Matsushima and Yoshihiro Okumatsu and Kei Ota},
      year={2026},
      eprint={2606.10244},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2606.10244},
}

License

This project is licensed under the CERN Open Hardware Licence Version 2 - Weakly Reciprocal (CERN-OHL-W v2).

Copyright 2026 Toyota Motor Corporation