东京公司 Enactic 的 OpenArm 2.0 是一款面向物理 AI 研究、遥操作与富接触数据采集的开源硬件 7 自由度（DOF）机械臂。它采用准直驱（QDD）可反驱关节，支持柔顺运动与双边力反馈控制。
机械臂名义负载 4.1kg、峰值 6kg，支持 1kHz CAN-FD 控制，配备带手内相机和可换指尖的紧凑型平行夹爪。支持双边力反馈遥操作、重力补偿与柔顺交互，结构为铝+不锈钢，底座采用 MISUMI 型材。生态还包含用于标准化评测的 OpenArm Cell，以及无电机、用于遥操作与数据采集的复刻臂 OpenArm KER。开源 CAD、BOM、固件、控制软件、ROS 2、MuJoCo、Isaac Lab 与数据集工具，支持模仿学习、强化学习、sim-to-real 与机器人操作等应用。
主要规格
通信：CAN-FD（推荐）名义 1Mbps、数据段 5Mbps，控制环 1kHz；可回退经典 CAN 2.0@1Mbps；电机 ID/参数经 Damiao 调试工具通过 921600bps UART 烧录；上位机走 Linux SocketCAN（Ubuntu 22.04/24.04），无板载计算机。自由度为 7 轴臂+1 平行夹爪（共 8 执行器），双臂系统即 14 臂自由度+2 夹爪。
电机：每臂 8 颗达妙（Damiao）QDD/低减速比行星电机。J1、J2 用 DM-J8009P-2EC（额定 20N·m/峰值 40N·m）；J3 用 DM-J4340P-2EC（额定 9/峰值 27N·m）；J4 用 DM-J4340-2EC（4340 系列非 QDD）；J5/J6/J7+夹爪用 4 颗 DM-J4310-2EC V1.1（额定 3/峰值 7N·m）。
负载（含末端）：名义 4.1kg 为最坏姿态（手臂全伸）保持 1 分钟；峰值 6.0kg 为 3 秒进入最坏姿态+1 秒保持。若装 1.5kg 工具，剩余名义约 2.6kg/峰值约 4.5kg。臂展 606mm。夹爪为 2 指捏取/平行式，最大开口 88mm，转子闭合到开启行程 60°，采用滚珠滑块与连杆轴承（服务力反馈/双边遥操作），2.0 版夹爪带手内 RGB 相机；支持 Intel RealSense D435 做胸前/顶视、D405 做腕部近景；更换接口件 J8_B 可装定制工具。编码器为每电机双 14 位单圈磁编（输出端+转子端）。控制模式支持达妙 MIT 模式（kp、kd、q、dq、tau）及位置、速度模式。
安全：每轴机械限位；QDD/低减速比关节可反驱（碰撞会屈服）；达妙驱动器具过温、过/欠压、过流保护；SocketCAN 处理 bus-off/断链；Cell 选配光幕/区域传感器、急停与校准治具。供电：电机 24V DC（8009P 亦支持 24–48V）；8009P 额定 20A/峰值 50A，4340/4310 额定 2.5A；OpenArm Cell 参考功耗约 480W+PC。
尺寸按身高约 160–165cm 的人体比例设计，底板 190×250mm、厚 8mm、孔距 30mm、48 个 M6 螺纹；单臂约 5.5kg；结构/高载件为铝+不锈钢，外壳 3D 打印。
OpenArm Cell 是用 MISUMI 铝型材搭建的标准化评测围栏，约 100kg，带电动 Z 轴升降可调工作台高度；专用校准治具把机器人固定在零点位置；还配有光幕等安全装置，有人进入作业区即停机。OpenArm KER（运动学等效复刻臂）是无电机的遥操作主导臂，关节布局与连杆尺寸与真机一致、1:1 映射，用 16 个磁编与轴承关节替代电机，长时间采集数据时操作者几乎不受阻力。KER 属 2.0 产品线，完整发布时间待官宣。
软件栈开源：C++ 与 Python 的 CAN-FD 库、ROS 2、双臂 MoveIt2 配置、用于数据采集与遥操作的 Dora 节点，支持 MuJoCo、Isaac Lab、Hugging Face LeRobot 及运动学求解库 mink。平台还有 OpenArm Online，研究者可以 Docker 容器提交训练好的策略，在浏览器里跑仿真任务评测。硬件 CAD（STEP/STL/Fusion 360）采用 CERN-OHL-S-2.0 许可，软件仓库多为 Apache 2.0。
Enactic 通过认证制造商销售而非直销：WowRobo 的 OpenArm 2.0 起价 6500 美元，OpenArm Cell 6200 美元，KER 2599 美元，交付周期 20–40 天、全球发货；日本 RT Corporation 供应装配测试整机，报价获取。
本文来源：https://www.cnx-software.com/2026-09-30/openarm-2-0-an-open-source-7-dof-robot-arm-with-qdd-joints-bilateral-force-feedback-in-hand-camera/
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Tokyo-based company Enactic’s OpenArm 2.0 is an open-source hardware 7-degree-of-freedom (DOF) robotic arm for physical AI research, teleoperation, and rich-contact data collection. It uses quasi-direct-drive (QDD) backdrivable joints and supports compliant motion and bilateral force-feedback control.
The arm has a nominal payload of 4.1 kg and a peak payload of 6 kg, supports 1 kHz CAN-FD control, and is equipped with a compact parallel gripper featuring an in-hand camera and interchangeable fingertips. It supports bilateral force-feedback teleoperation, gravity compensation, and compliant interaction; the structure is aluminum plus stainless steel, and the base uses MISUMI profiles. The ecosystem also includes OpenArm Cell, a standardized evaluation enclosure, and OpenArm KER, a motorless replica arm for teleoperation and data collection. Open-source CAD, BOM, firmware, control software, ROS 2, MuJoCo, Isaac Lab, and dataset tools are provided, supporting applications such as imitation learning, reinforcement learning, sim-to-real, and robotic manipulation.
Main specifications
Communication: CAN-FD (recommended) with nominal 1 Mbps and data-phase 5 Mbps, control loop 1 kHz; fallback to classic CAN 2.0 @ 1 Mbps is available; motor ID/parameters are flashed via the Damiao debugging tool over a 921600 bps UART; the host runs Linux SocketCAN (Ubuntu 22.04/24.04), and there is no onboard computer. Degrees of freedom: 7-axis arm + 1 parallel gripper (8 actuators total); a dual-arm system has 14 arm DOF + 2 grippers.
Motors: 8 Damiao QDD / low-reduction-ratio planetary motors per arm. J1 and J2 use DM-J8009P-2EC (rated 20 N·m / peak 40 N·m); J3 uses DM-J4340P-2EC (rated 9 / peak 27 N·m); J4 uses DM-J4340-2EC (4340 series, non-QDD); J5/J6/J7 + gripper use 4 DM-J4310-2EC V1.1 units (rated 3 / peak 7 N·m).
Payload (including end-effector): nominal 4.1 kg is held for 1 minute in the worst-case posture with the arm fully extended; peak 6.0 kg involves 3 seconds moving into the worst-case posture + 1 second hold. With a 1.5 kg tool, the remaining nominal capacity is about 2.6 kg / peak about 4.5 kg. Reach: 606 mm. The gripper is a 2-finger pinch / parallel gripper with maximum opening 88 mm and a rotor closed-to-open stroke of 60°, using ball sliders and linkage bearings (for force feedback / bilateral teleoperation); the 2.0 gripper includes an in-hand RGB camera; Intel RealSense D435 can be used for chest / top view and D405 for wrist close-up; swapping the interface part J8_B allows custom tools. Encoders: dual 14-bit single-turn magnetic encoders per motor (output side + rotor side). Control modes support Damiao MIT mode (kp, kd, q, dq, tau), as well as position and velocity modes.
Safety: mechanical limits on each axis; QDD / low-ratio joints are backdrivable (they yield in a collision); Damiao drivers include overtemperature, over/undervoltage, and overcurrent protection; SocketCAN handles bus-off and disconnected links; optional accessories for the Cell include light curtains / area sensors, emergency stop, and a calibration fixture. Power supply: motors 24 V DC (8009P also supports 24–48 V); 8009P rated 20 A / peak 50 A, 4340/4310 rated 2.5 A; OpenArm Cell reference power consumption is about 480 W + PC.
Dimensions are designed to human proportions of approximately 160–165 cm height; the base plate is 190×250 mm, 8 mm thick, with 30 mm hole pitch and 48 M6 threaded holes; a single arm weighs about 5.5 kg; structural / high-load parts are aluminum + stainless steel, and the shell is 3D printed.
OpenArm Cell is a standardized benchmarking enclosure built from MISUMI aluminum profiles, weighing about 100 kg, with an electric Z-axis lift to adjust the work surface height; a dedicated calibration fixture locks the robot at the zero position; it also includes safety devices such as light curtains, stopping immediately when a person enters the workspace. OpenArm KER (kinematically equivalent replica arm) is a motorless teleoperation leader arm whose joint layout and link dimensions match the real robot with 1:1 mapping; it replaces motors with 16 magnetic encoders and bearing joints, so the operator feels almost no resistance during long data-collection sessions. The KER belongs to the 2.0 product line, and its full release date awaits official announcement.
The software stack is open source: C++ and Python CAN-FD libraries, ROS 2, dual-arm MoveIt2 configuration, and Dora nodes for data collection and teleoperation are supported; it also supports MuJoCo, Isaac Lab, Hugging Face LeRobot, and the kinematics solver library mink. The platform also includes OpenArm Online, where researchers can submit trained policies as Docker containers and run simulated benchmark tasks in a browser. Hardware CAD (STEP/STL/Fusion 360) uses the CERN-OHL-S-2.0 license, and software repositories are mostly Apache 2.0.
Enactic sells through certified manufacturers rather than direct sales: WowRobo’s OpenArm 2.0 starts at $6500, OpenArm Cell at $6200, and KER at $2599, with a 20–40 day delivery lead time and global shipping; RT Corporation in Japan supplies fully assembled and tested machines, quote available.