OpenArm 2.0 – An open-source 7-DOF robot arm with QDD joints, bilateral force feedback, in-hand camera

Tokyo-based Enactic OpenArm 2.0 is an open-source hardware 7-DOF robot arm designed for physical AI research, teleoperation, and contact-rich data collection. It uses quasi-direct-drive (QDD) backdrivable joints to support compliant motion and bilateral force-feedback control. The arm supports 4.1 kg nominal and 6 kg peak payload, features 1 kHz CAN-FD control, and a compact parallel gripper with an in-hand camera and replaceable fingers. It supports bilateral force-feedback teleoperation, gravity compensation, and compliant interaction, with an aluminum and stainless-steel structure and MISUMI-frame base. The ecosystem also includes the OpenArm Cell for standardized evaluation and OpenArm KER, a motorless replica for teleoperation and data collection. Open-source CAD, BOM, firmware, control software, ROS 2, MuJoCo, Isaac Lab, and dataset tools support applications such as imitation learning, reinforcement learning, sim-to-real, and robotic manipulation. OpenArm 2.0 specifications: Communication CAN-FD (recommended): nominal 1 Mbps, data 5 Mbps, control loop 1 kHz Classic CAN 2.0 fallback @ [...]

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