> For the complete documentation index, see [llms.txt](https://ruka.gitbook.io/instructions/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://ruka.gitbook.io/instructions/introduction.md).

# Introduction

{% embed url="<https://www.youtube.com/embed/RXzUEl60vWg>" %}

## What is RUKA?

RUKA is an open-source robot hand for researchers, hobbyists, and anyone who wants to build it! All parts are either 3D printed or off-the-shelf.&#x20;

Since RUKA is tendon-driven and has no joint encoders, fingertip and joint angle control is learned by putting a Manus motion capture glove onto RUKA and then mapping the position readings to the motor positions. A model is available for users without a Manus glove who cannot collect their own data.&#x20;

## What's in this documentation?

This documentation has two main sections:

1. Hardware - this includes materials needed for RUKA and all the instructions for assembling the hand
2. Software - this covers the startup of the software for controlling the hand, and the documentation is also available on the git repository <https://github.com/ruka-hand>

If you have any questions or feedback, please join our [Discord](https://discord.gg/9wggHhmYdg) or email us at