13 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023 4 TABLE 2. ORH-surveyed projects.(Continued) DESIGN AND FABRICATION DOCUMENTATION AND INSTRUCTION DISSEMINATION AND SUPPORT PROJECT Piccolo [119] FarmBot [120] HapKit [121] ✓ N/A ✓ Onshape ✓ SolidWorks Wooden Haptics [122] ✓ SolidWorks ROBO Puppet [123] SPRK [126] ENDO [127] Pillforge [128] LTA Gondola [129] Unknown ✓ SolidWorks ✓ SolidWorks N/A N/A ✓ SolidWorks Laser cutting 3D printing 3D printing, laser cutting Laser cutting 3D printing Laser cutting 3D printing N/A 3D printing ✓ ✓ Miscellaneous US$80 US$1,700- 5,300 ✓ ✓ ✓ ✓ ✓ US$50-100 ✓ ✓ ✓ US$3,600 ✓ ✓ ✓ US$85 US$250 US$100 ✓ ✓ ✓ ✓ ✓ Unknown ✓ N/A ✓ US$90 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ GitHub Website ✓ Website ✓ Website, GitHub ✓ Website GitHub GitHub N/A N/A N/A GitHub ✓ GitHub, Hackaday CC BY-SA 4.0 CC0 1.0 CC BY-SA 3.0 CC BY-SA 4.0 ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ Unknown ✓ MIT License ✓ GPL v3 ✓ MIT License ✓ CC BY 4.0 ✓ ✓ ✓ OS: open source; HRI: human-robot interaction; OSF: Open Science Framework; MIT: Massachusetts Institute of Technology; VR: virtual reality; GPL: General Public License; OPSORO: Open Source Social Robot Platform; IGES: Initial Graphics Exchange Specification; DyRET: Dynamic Robot for Embodied Testing; ESA: European Space Agency; JPL: Jet Propulsion Laboratory; NMMI: Natural Machine Motion Initiative; SRoCS: Swarm Robotics Construction System COTS: commercial off-the-shelf; GPL: General Public License; MuSHR: Multiagent System for non-Holonomic Racing; N/A: not applicable; SW: software; BSD: Berkeley Software Distribution; PUT: Poznan University of Technology; WDO: wrist-driven orthosis; OMG: open-source Mudra gloves; STEP: standard to the exchange of product data; PARA: printed articulated robotic arm; CASTOR: Compliant Soft Robotics; NICO: neuro-inspired companion; PTC: Parametric Technology Corporation; STL: Standard Tessellation Language EDITABLE CAD CAD SW FABRICATION METHODS CAN IT BE PURCHASED? COST FABRICATION INSTRUCTIONS ASSEMBLY GUIDE BOM/COTS LINKS ANNOTATED IMAGES VIDEOS/ ANIMATIONS TOOLS REQUIRED ONLINE REPOSITORY OS LICENSE SOFTWARE/ CONTROL COMMUNITY FORUM UPDATES SINCE 2020