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-- to Share - to copy, distribute and transmit the work, and

Under the following conditions:
-- Attribution - You must attribute the work in the manner specified by the author or licensor (but not in any way that suggests that they endorse you or your use of the work.)
-- Noncommercial - You may not use this work for commercial purposes
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-- Waiver - Any of the above conditions can be waived if you get permission from the copyright holder.
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Attribution:

For academic/research work, please cite the following paper:
R.R. Ma, L.U. Odhner, A.M. Dollar, "A Modular, Open-Source 3D Printed Underactuated Hand," Proc. of Intern. Conf. on Robotics and Automation, Karlsruhe, Germany, 2013

The Yale OpenHand Initiative is a project to advance the design and use of robotic hands designed and built through rapid-prototyping techniques in order to encourage more variation and innovation in mechanical hardware. 
Please visit our site at www.eng.yale.edu/grablab/openhand for more details.

