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The Yale GRAB Lab

The GRAB Lab conducts research into robot manipulation and biorobotic systems. Current research topics include robotic hands and dexterous grasping and manipulation, upper-limb prosthetics, human grasping and manipulation, and assistive and rehabilitation devices, among others. Some details on our established work can be found on the Research and Publications pages.

We have recently begun to make some of our robotic hand designs freely available as Open Hardware through the Yale OpenHand Project.

Along with those efforts, we are beginning a larger effort to encourage, centralize, and host other similar Open Robot Hardware efforts through our site OpenRobotHardware.org.

We have recently release a large dataset consisting of tagged video and image data of 28 hours of human grasping movements in unstructured environments: Yale Human Grasping Dataset.

Prof. Dollar is the editor and co-founder of RoboticsCourseWare.org, an open repository for robotics pedagogical materials.


We are currently seeking exceptional students to join our team as PhD and Master's candidates. Applicants should have a background in Mechanical or Electrical Engineering or a closely related field. Quality of the applicant is more important than specific background, although hardware and experimental experience is preferable. Interested students should contact Prof. Dollar and provide a copy of their resume and a brief description of their interests for graduate school.

Recent News

Dec. 2 - The lab has released the Yale Human Grasping Dataset consisting of tagged video and image data of 28 hours of human grasping movements in unstructured environments.

Sept. 29 - GRAB Lab PhD Student Hari Vasudevan successfully defended his dissertation today - Congrats Hari, and good luck at Apple!

Aug. 20 - GRAB Lab PhD Student Joseph Belter won First Prize in the ASME Graduate Mechanism Design Competition - congratulations to Joe!

Aug. 4 - GRAB Lab PhD Student Kamran Shamaei successfully defended his dissertation today - Congrats Kamran, and good luck on your postdoc at Stanford!

July 15 - Prof. Dollar has received the NASA Early Career Faculty award - Congrats!

May 15 - RightHandRobotics - The lab has spun off a company along with folks from Rob Howe's lab at Harvard. Good luck to Lael, Leif, and Yaro!

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