Direct-Drive Hand Driver

The repository contains the driver and user interface to our direct-drive hand.

Install

1. Clone the repository

   git clone https://github.com/HKUST-RML/ddh_driver

2. Install dependencies

   cd ddh_driver
   pip3 install -r requirements.txt

3. Add ddh_driver to PYTHONPATH. If you are using Jupyter, the simplest way is to add the following lines at the beginning of the notebook.

   import sys
   sys.path.append('path to ddh_driver')
   import ddh_driver

Getting Started

After assembling the direct-drive gripper by following the instructions in ddh_hardware, run tutorial.ipynb for a simple example.

Utilities

Calibrate ODrive

python3 -m ddh_driver.odrive_calib

This command is only used during hardware assembly, please check the ddh_hardware page for its usage.

Check Raw Encoder Readings

python3 -m ddh_driver.check_encoder

This command will print the raw real-time readings from the 4 encoders. Unit is revolution, 1.0 means rotated 360 degrees.

Check Rotor Positions

python3 -m ddh_driver.check_motor_pos

This command will print the rotational position of the four actuators. Unit is degrees. It requires calibrating the zero position of the motors. Please refer to the ddh_hardware page for more details.

Check Proximal Link Positions

python3 -m ddh_driver.check_theta

This command will print the rotational position of the four proximal links. Unit is degrees.

Maintenance

For any technical issues, please contact Pu Xu (pxuaf@connect.ust.hk) and Ka Hei Mak (khmakac@connect.ust.hk)