Elon Musk
Tesla Optimus V3 hand and arm details revealed in new patents
Two new patents, which were coincidentally filed on the same day as the “We, Robot” event back in October 2024, protect Tesla’s mechanically actuated, tendon-driven architecture.
Tesla is planning to soon reveal its latest and greatest version of the Optimus humanoid robot, and a series of new patents for the hands and arms, with the former being, admittedly, one of the most challenging parts of developing the project.
Two new patents, which were coincidentally filed on the same day as the “We, Robot” event back in October 2024, protect Tesla’s mechanically actuated, tendon-driven architecture.
The designs relocate heavy actuators to the forearm, route cables through a sophisticated wrist design, and employ innovative joint assemblies to achieve human-like dexterity while enabling lightweight construction and high-volume manufacturing.
Core Tendon-Driven Hand Architecture
The primary patent, which is titled “Mechanically Actuated Robotic Hand,” details a cable/tendon-driven system.
Actuators are positioned in the forearm rather than the hand. Each finger features four degrees of freedom (DoF), while the wrist adds two more.
Tesla’s Optimus V3 robot hand looks to have been revealed in a new international patent published today.
The patent describes a tendon/cable-driven hand:
• Actuators in the forearm
• Each finger has 4 degrees of freedom
• The wrist has 2 degrees of freedom
• Tendon-driven… pic.twitter.com/eE8xLEYSrx— Sawyer Merritt (@SawyerMerritt) April 16, 2026
Three thin, flexible control cables (tendons) per finger extend from the forearm actuators, pass through the wrist, and connect to the finger segments. Integrated channels within the finger phalanges guide these cables selectively—routing behind some joints and forward of others—to enable independent bending without unintended motion.
Patent diagrams illustrate thick cable bundles emerging from the wrist into the palm and fingers, with labeled pivots and routing guides. This setup closely mirrors human forearm-muscle and tendon anatomy, where most hand control originates proximally.
Advanced Wrist Routing Innovation
One of the standout features is the wrist’s cable transition mechanism. Cables shift from a lateral stack on the forearm side to a vertical stack on the hand side through a specialized transition zone.
Boom! @Tesla_Optimus 의 3세대 구조로 추정되는, 로봇 팔 및 관절에 대한 특허가 공개되었습니다.
아티클 작업에 들어가겠습니다.
1년 넘게 기다려 온, 정말 귀한 특허인데, 조회수 100만대로 터져줬으면 좋겠네요. 😉@herbertong @SawyerMerritt@GoingBallistic5 @TheHumanoidHub pic.twitter.com/CCEiIlMFSX
— SETI Park (@seti_park) April 16, 2026
This geometry significantly reduces cable stretch, torque, friction, and crosstalk during combined yaw and pitch wrist movements — common failure points in simpler tendon systems that cause imprecise or jerky motion.
By minimizing these issues, the design supports smoother, more reliable multi-axis wrist operation, essential for complex real-world tasks.
Companion Patents on Appendage and Joint Design
Two supporting patents provide additional depth. “Robotic Appendage” covers the overall forearm-to-palm-to-finger assembly, with a palm body movably coupled to the forearm and finger phalanges linked by tensile cables returning to forearm actuators. Tensioning these cables repositions the phalanges precisely.
“Joint Assembly for Robotic Appendage” describes curved contact surfaces on mating structures paired with a composite flexible member. This allows smooth pivoting while maintaining consistent tension, enhancing durability, and simplifying assembly for mass production.
Executive Insights on Hand Development Challenges
Tesla executives have consistently described the hand as the most difficult component of Optimus.
Elon Musk has called it “the majority of the engineering difficulty of the entire robot,” emphasizing that human hands possess roughly 27–28 DoF with an intricate tendon network powered largely by forearm muscles. He has likened the challenge to something “harder than Cybertruck or Model X… somewhere between Model X and Starship.”
In mid-2025, Musk acknowledged that Tesla was “struggling” to finalize the hand and forearm design. By early 2026, he stated that the company had overcome the “hardest” problems, including human-level manual dexterity, real-world AI integration, and volume production scalability.
He estimated the electromechanical hand represents about 60 percent of the overall Optimus challenge, compounded by the lack of an existing supply chain for such precision components.
These patents directly tackle the acknowledged pain points: relocating actuators reduces hand mass and inertia for better speed and efficiency; advanced wrist routing and joint geometry address friction and crosstalk; and simplified, stackable parts visible in the diagrams indicate readiness for high-volume manufacturing.
Implications for Optimus Production and Leadership
Collectively, the patents portray the Optimus v3 hand not as a mere prototype, but as a production-oriented system engineered from first principles.
The 22-DoF architecture, forearm-driven tendons, and crosstalk-minimizing wrist deliver a clear competitive edge in dexterity. They align with Musk’s view that high-volume manufacturing is one of the three critical elements missing from most other humanoid projects.
For Optimus to become the most capable humanoid robot, its hand needed to replicate the useful and applicable design of the human counterpart.
These filings demonstrate that Tesla has transformed years of engineering challenges into patented, elegant solutions — positioning the company strongly in the race toward general-purpose robotics.
Elon Musk
SpaceX’s next Starship flight set to make history on Friday the 13th
SpaceX is targeting Friday, November 13 for Starship Flight 15 and its first ship catch.
SpaceX is targeting Friday, November 13 for Starship Flight 15, the mission the company plans to use for its first attempt at catching the ship itself with the launch tower.
SpaceX Vice President of Launch Kiko Dontchev shared the date on stage at the UP.Summit on Thursday, according to Ars Technica’s Eric Berger, who was in attendance. It is the first launch target to come directly from a SpaceX executive. Until now, the public schedule had relied on FAA air traffic planning slides, which listed Flight 15 for no earlier than November 8 and later November 12. SpaceX has not posted an official mission page yet, and no launch time has been shared.
The date lands inside the window Elon Musk sketched out last month. Speaking at Giga Texas on October 10, Musk said the flight would “probably launch a little bit before Thanksgiving,” as Teslarati reported. On SpaceX’s third quarter earnings call ten days later, he confirmed that Flight 15 would try to catch both the Super Heavy booster and the ship, and put the odds of a successful ship catch at “more likely than not.” SpaceX also aired an animation of the maneuver during that webcast, showing the ship swinging vertical over Starbase before dropping into the tower’s chopsticks.
The hardware is ready. Booster 22 fired all 33 of its Raptor engines for a full duration static fire at Pad 2 on October 25. Ship 42 followed with a single engine burn simulating a deorbit maneuver on October 26 and a 60 second firing of all six engines the next day, according to NASASpaceflight. Ship 42 had already rehearsed the catch in September, when the Pad 2 arms lifted it into position and crews connected the quick disconnect arm while the vehicle hung from the tower.
The remaining hurdle is regulatory. The FAA’s Starship page does not yet list a Flight 15 license. SpaceX President Gwynne Shotwell said in October that, after “significant constructive engagement with the FAA,” she expects the license to cover a return to the launch site and a tower catch for both stages. Bringing the ship home means a reentry path that heads toward land, rather than ending over open ocean as every Starship flight so far has.
SpaceX has caught Super Heavy three times, on Flights 5, 7 and 8, but the ship comes back from orbital velocity and has never been caught. Flight 14 on September 28 was the first Starship to reach orbit, deploying 26 Starlink V3 satellites before splashing down despite an early engine shutdown that Musk blamed on engine computer software.
Musk has called a successful ship catch “the first time that there’s been full recovery of an orbital class rocket,” and he has already named the step after it: a Flight 16 where both the booster and the ship fly again. NASASpaceflight reports that Ship 43, the next vehicle in line, is set for static fire testing in December.
Elon Musk
Elon Musk’s Grok Bot is picking up the phone now, and the first calls are wild
Elon Musk wants Grok Bot users making phone calls, and one Comcast call saved $500.
Elon Musk is pushing Grok Bot users toward a feature that, until this week, few of them could actually use. “Try asking Grok @Bot to make calls!” Musk wrote on X Tuesday afternoon, quoting a demo from Sawyer Merritt that included audio from a live call.
Musk first announced calling on October 25, writing that the agent could “call someone or a business for you, make a request on your behalf, take notes on the response and send you a note summarizing the conversation.” There were no release notes at the time, and the feature only appeared in preview builds. That changed on Tuesday, when creator Peter Yang said all Grok Bot users should now be able to call US businesses. Musk reposted his demo.
Try asking Grok @Bot to make calls! — Elon Musk (@elonmusk) November 3, 2026
Yang’s call shows how far the feature goes. In his video, his bot dialed Comcast, worked through the phone menu, deflected small talk about the weather by saying it does not “have eyes on the sky,” turned down three upsells and used a cheaper fiber offer from competitor Sonic as leverage. His bill dropped from $84 to $45 per month on a faster plan, a savings of nearly $500 a year. The call ran about 25 minutes, and the bot paused to get Yang’s approval before accepting the final terms.
Merritt described what the user sees: a live transcript runs during the call, and when the business asks for something the bot does not know, an answer box pops up in the chat. The user types a reply and Grok relays it to the person on the line. Other users posted results Tuesday, including a $100 gift card recovered from Verizon Fios after a 51 minute call and a same day pediatric appointment, which Musk also shared. Not every call worked. One user said a rep refused to cancel a subscription once it was clear an AI was on the phone.
Grok @Bot can now call someone or a business for you, make a request on your behalf, take notes on the response and send you a note summarizing the conversation! — Elon Musk (@elonmusk) October 25, 2026
The Grok Bot terms require every call to identify itself as a virtual assistant calling on the user’s behalf and warn that calls may be recorded. Marketing, mass calling and impersonation are prohibited, and calling currently works only with US numbers.
The timing stands out. Days ago, users began hitting their weekly limits early, and Musk said the cost of serving Grok Bot was “unsustainably high relative to revenue,” as Teslarati reported. A call that spends most of its 25 or 50 minutes on hold is the kind of long running task that eats into usage, and SpaceXSI has not said how calls count against the weekly pool. Grok Bot is included from the $30 Premium tier of The X Subscription upward.
For Tesla owners, the agent has been in their cars since September 22 and is enabled across every Cybercab and Model Y Robotaxi. Musk has already pitched it for phone chores like scrubbing your number from spam call lists. Neither Tesla nor SpaceXSI has confirmed whether a bot can place one of these calls on request from inside the vehicle.
Elon Musk
Grok Bot users hit with weekly limits early, Elon Musk explains what happened
Elon Musk said weeks ago during SpaceX’s third-quarter earnings call that the company’s Grok Bot, its autonomous AI Agent platform, was showing “the fastest growth of a product” that he’d ever seen in his life.
Now, SpaceXSI is scaling back Grok Bot users’ weekly limits, much to the surprise of those who have relied on it to take away monotonous tasks in their lives.
Elon Musk’s terse November 1 reply on X captured a sharp tension in the early days of agentic AI. Responding to a user who asked for a Grok Bot usage reset after hitting 100 percent with four days still left on the weekly cycle, Musk wrote: “The cost of serving Grok Bot was unsustainably high relative to revenue.”
@DogecoinNorway The cost of serving Grok Bot was unsustainably high relative to revenue
— Elon Musk (@elonmusk) November 1, 2026
The post arrived amid a wave of similar complaints from paying subscribers whose meters had jumped unexpectedly toward or to the limit, sometimes overnight and with little corresponding activity. It also stood in clear contrast to statements Musk had made only days and weeks earlier.
On the SpaceX third-quarter earnings call in mid-to-late October, Musk had described Grok Bot in almost the opposite terms. He called it “the fastest growth of a product that I’ve ever seen in my life” and said he had “never seen anything grow this fast.”
Company figures put paid weekly users at roughly 800,000 earlier in the month, more than doubling over the prior period. Daily active users had climbed from under 100,000 in early September to over 600,000 by late October.
Musk emphasized that the product has no free tier and that users appear to be getting real value beyond what they pay. In other remarks, he noted that usage per user was rising rather than declining, the opposite of the usual decay pattern for new software.
Grok Bot, launched around August, functions as an always-available agent with its own persistent cloud computer; it can schedule, research, shop, browse, and execute multi-step workflows even after the user steps away. Access is bundled into X subscription tiers (roughly $30, $100, and $200 per month) and certain Cursor plans, drawing from shared weekly usage pools whose exact sizes have not been publicly detailed.
The economics of that model are what Musk’s November 1 post put in the spotlight. Agentic systems burn far more compute than ordinary chatbot exchanges. Each task can trigger repeated model calls, tool use, web actions, and sustained background work.
When growth is as rapid as Musk celebrated, the absolute compute bill scales quickly even if average revenue per user stays fixed under flat monthly subscriptions. Industry observers noted the opportunity cost as well: the same GPUs can be rented to other AI labs at higher rates.
A simple back-of-the-envelope comparison circulating after the post illustrated the gap: if every reported daily user paid the top tier, annualized subscription revenue would still be modest relative to the scale of compute infrastructure SpaceX is building and leasing to companies like Anthropic.
Some users also reported possible dashboard anomalies around the same period, though Musk’s framing treated the underlying cost-revenue imbalance as the core issue rather than a pure metering glitch.
The juxtaposition is the core of this exchange. Within roughly two weeks of publicly framing Grok Bot as an unprecedented success with strong unit economics and no free tier, Musk acknowledged that serving the same product had become unsustainable relative to the revenue it generates.
For the broader industry, the episode underscores a structural challenge of the agent era: demand is real and growing faster than many expected, yet the cost of fulfilling that demand through always-on, multi-step agents can outrun subscription pricing before companies can adjust limits, introduce metered billing, or raise prices.
Musk’s reply did not promise an immediate reset or higher allowances; it simply stated the constraint. In doing so, it supplied a rare, explicit public data point on the unit economics of a high-profile AI agent just as adoption numbers were still being celebrated as the fastest in Musk’s experience.
The tension between rapid, paid growth and the compute required to deliver it is now on the record.