Newly Launched Dexterous Gripper for Mimicking Hand Motions

The myGripper H100 is a 3-finger force-controlled dexterous gripper designed for robotics research, education, and commercial application scenarios. It is equipped with 6 high-performance digital servo motors, along with other detailed specifications listed in the table below.

Applicable Scenarios

Precise Grasping: The developers use robot to accurately grasp fruits, food, tools, equipment, and other items.

Physical Interaction: The robot collaborates with other robots to perform actions such as giving likes, greeting, and gesture control.

Experimental Operation: Students use the robot to perform precise operations and experimental demonstrations in the laboratory.

Teaching Demonstration: The dexterous hand can be used for practical teaching in robotics courses.

Hardware Installation

In order to be compatible with most robots on the market, the connection method of this machine uses external connection. Users can change the length of the power line and signal line according to their needs, and then connect the signal to the PC through the RS485-USB module to complete control.

Connect the corresponding signal wires to the RS485-USB module accordingly:

● 485A+ connects to the 485-USB module A+;

● 485B+ connects to the 485-USB module B-;

● 24V connects to the positive pole of the 24V DC regulated power supply;

● GND connects to 24V Negative pole of DC regulated power supply;

Connect the 24V, GND, 485A (T/R+, 485+), 485B (T/R-, 485-) of the dexterous hand's end, a total of 4 wires, the power supply is a 24V DC regulated power supply, and insert the USB port of the module into the USB port of the computer.

We suggest splitting the white GND signal line into two ends, one end connected to the negative terminal of the power supply and the other end connected to the RS485 module.

Then, connect the RS485 module to the PC.

Software Installation

We provide 2 methods for communicating and controlling the dexterous robot gripper. One is to directly use the serial port protocol to send hex-command instruction frames, another method is to use our pre-packaged Python API.

For Hex-command Control:

(1) Install UartAssist: https://www.nitwo.com/en/download/UartAssist.html.

(2) Open Port.

(3) Send the Hex Command to Control.

For Python API Control:

(1) Install Python :Python Release Python 3.10.10 | Python.org.

(2) Download the Library We Need.

Change the demo.py for the follow code:

from MyHand import MyGripper_H100
import time
import keyboard
 
def main():
    hand = MyGripper_H100("COM12")  # according to your robot port
    print("Press 1-5 to choose gripper pose， 'q' - exit")
 
    while True:
        if keyboard.is_pressed("1"):
            print("set Pose 1: (0,0)")
            hand.set_gripper_pose(0, 0)
            time.sleep(2)
        elif keyboard.is_pressed("2"):
            print("set Pose 2: (1,5)")
            hand.set_gripper_pose(1, 5)
            time.sleep(2)
        elif keyboard.is_pressed("3"):
            print("set Pose 3: (2,5)")
            hand.set_gripper_pose(2, 5)
            time.sleep(2)
        elif keyboard.is_pressed("4"):
            print("set Pose 4: (3,5)")
            hand.set_gripper_pose(3, 5)
            time.sleep(2)
        elif keyboard.is_pressed("5"):
            print("set Pose 5: (4,15)")
            hand.set_gripper_pose(4, 15)
            time.sleep(2)
        elif keyboard.is_pressed("q"):
            print("exit")
            break
 
        time.sleep(0.1)
 
 
if __name__ == "__main__":
    main()

Enter to this library filefolder, and execute this script.

python demo.py

Then you can select the 5 different actions set by the dexterous hand.

Motion Test

1. Pinch the wooden block.

from MyHand import MyGripper_H100
import time
 
if __name__ == "__main__":
    hand = MyGripper_H100("COM12")  # according to your robot port
    time.sleep(2)
    # Pose 1
    hand.set_gripper_pose(1, 5)
    print(1)
    time.sleep(8)
    print(2)
    hand.set_gripper_pose(0, 0)

2. Clamp the wooden block.

from MyHand import MyGripper_H100
import time
 
if __name__ == "__main__":
    hand = MyGripper_H100("COM12")  # according to your robot port
    hand.set_gripper_pose(0, 0)
    time.sleep(2)
    # Pose 3
    hand.set_gripper_pose(3, 2)
    time.sleep(8)
    hand.set_gripper_pose(0, 0)
    time.sleep(3)
    hand.set_gripper_pose(3, 2)

Summary

This 3-finger force-controlled dexterous robot hand can help collaborative robots perform human hand-like movements with remarkable precision and flexibility. This capability enhances its interaction with the environment and expands the potential applications of robotics in various fields.

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