diff --git a/open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java b/open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java
index d110a3df8fce..543595170e86 100644
--- a/open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java
+++ b/open-alexander/src/main/java/us/ihmc/openAlexander/AlexanderVersionInterface.java
@@ -18,6 +18,8 @@ public interface AlexanderVersionInterface extends RobotVersion
    AlexanderJointMap getJointMap();
 
    boolean hasNubHands(RobotSide side);
+   
+   boolean hasCycloidHands(RobotSide side);
 
    AlexanderSensorInformation getSensorInformation();
 
diff --git a/open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java b/open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java
index b9b3fa9b02fe..68a60af75902 100644
--- a/open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java
+++ b/open-alexander/src/main/java/us/ihmc/openAlexander/OpenAlexanderVersion.java
@@ -164,6 +164,18 @@ public boolean hasNubHands(RobotSide side)
       }
    }
 
+   @Override
+   public boolean hasCycloidHands(RobotSide side)
+   {
+      switch (this)
+      {
+         case V1_FULL_ROBOT:
+            return true;
+         default:
+            return false;
+      }
+   }
+
    @Override
    public AlexanderSensorInformation getSensorInformation()
    {