🌐 Project page: yubi.airoa.io
YUBI is a finger-driven dexterous manipulation system developed by Frontier Research Center, Toyota Motor Corporation.
- 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.
.
├── STEP/
│ ├── glove/ # YUBI Glove (teleoperation device) STEP files
│ ├── gripper/ # YUBI Gripper (robot-mounted, DYNAMIXEL) STEP files
│ └── portable/ # Portable data collection rig 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
- Check the Bill of Materials to source the required components.
- 3D print parts using files in the STL directory.
- Follow the Assembly Instructions to build the hardware.
- yubi-sw — Software (control, teleoperation)
| Name | Affiliation | Role |
|---|---|---|
| Yoshihiro Okumatsu | Frontier Research Center, Toyota Motor Corporation | Project 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 |
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 Yohishiro Okumatsu and Kei Ota},
year={2026},
eprint={2606.10244},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2606.10244},
}This project is licensed under the CERN Open Hardware Licence Version 2 - Weakly Reciprocal (CERN-OHL-W v2).
Copyright 2026 Toyota Motor Corporation