Price record
LEAP Hand: $2,066 for 16 motors, $4,550 for 8
The v2 costs 120% more than the v1 kit and has half as many motors, because the extra money buys compliance and a one-hour-shorter build rather than more joints.
The LEAP Hand v1 assembly kit lists at $2,066 and the v2 at $4,550 on the same US dealer's 2026 pages, a 120% increase. Both are described as 16 degrees of freedom, but v1 drives all 16 with 16 Dynamixel servos while v2 drives 16 joints with 8 motors through under-actuated tendons.
Three listed prices
| Product | Price | What it is | Tier |
|---|---|---|---|
| LEAP Hand v1 assembly kit | $2,066.00 | One 16-DOF hand to assemble | A |
| LEAP Hand v1 bimanual pair | $4,133.00 | Two v1 hands, 32 actuators | A |
| LEAP Hand v2 | $4,550.00 | Hybrid rigid-soft hand, 8 motors | A |
The pair is exactly double the single kit. There is no bundled discount to report.
What changed between versions
| Field | v1 | v2 |
|---|---|---|
| Fingers | 4, three fingers and a thumb | 4, human-hand sized |
| Degrees of freedom | 16, all actuated | 16 total, under-actuated |
| Actuators | 16 Dynamixel XC330-M288-T | 8 motors, one tendon per finger |
| Structure | Rigid printed parts | TPU and PLA, soft joints |
| Mass | 1.2 kg | 0.5 kg |
| Assembly | Under 3 hours | Under 2 hours |
| Simulation | Isaac Gym and Isaac Lab | Not stated |
v1 comes from Carnegie Mellon's 2023 RSS paper, which reported outperforming the Allegro Hand in all of the authors' experiments at one eighth of the cost. v2 was shown at RSS 2025. Because v2 curls its fingers under under-actuation, the MCP joint bends first, then PIP and DIP. That is a real mechanical difference that a DOF column hides, and the counting guide covers why 16 and 16 are not the same number here.
Reading the 120% correctly
Price rose, motor count halved. Rank by dollars per actuated joint and v1 wins. Rank by mass at the wrist, assembly time or compliance during contact-rich data collection and v2 wins. Both readings are correct, which is why the records are split by use case rather than ranked in one list, and why the Allegro comparison separates actuated from total DOF.
For context, the same dealer lists the Allegro Hand V5 at $13,000 and the Inspire RH56DFX at $10,500 alongside the $2,066 kit.
What is not verified
- No dated price list from the LEAP project itself. Every price is a dealer listing observed in 2026.
- No archived snapshot establishes when v2 pricing first appeared.
- Mass conflict: an earlier dealer blog says 0.5 kg for the hand, the later guide says 1.2 kg for v1 and 0.5 kg for v2.
Questions
Why is the v2 more expensive with fewer motors?
Because it is a different build: multi-material printed structure, soft joints and a shorter assembly time. The motor count falls, the manufacturing complexity rises.
Is there a discount for two hands?
No. The bimanual pair is exactly 2 × $2,066.
Can I build one from the parts list?
Yes, the design is open. That route has not been costed here, so the kit price is not a floor.
Sources
- US dealer LEAP guide. v1 and v2 listings and fields. 2026
- US dealer 2026 use-case playbook. v2 price and positioning. 2026
- Shaw, Agarwal, Pathak, RSS 2023. Original design and cost comparison. 2023
Record log
- Record created. Three dealer listings captured.