NML Hand Exoskeleton documentation

The NML Hand Exoskeleton repository contains the Python SDK, operator and EMG applications, OpenRB-150 firmware, and optional CircuitPython TCP bridge.

Warning

This is research software for supervised laboratory use. Confirm the active calibration profile, current limits, joint limits, motor IDs, and emergency stop before participant use.

Getting started

• Quickstart
  • Prerequisites
  • Install
  • Check the applications without opening hardware
  • Connect
  • Before motion
• Python usage
  • Install the package
  • USB serial
  • TCP bridge
  • Motor commands
  • Applications
• Frequently Asked Questions (FAQ)
  • General Questions
  • Safety
  • Troubleshooting
  • More Information

Integration

• CircuitPython Wi-Fi Server
  • Software Setup
  • Hardware Setup
  • HTTP Webpage
• Manual Button State Machine
  • Overview
  • Hardware Setup
  • Interaction Logic

API reference

• Python API reference
  • Package version
  • Device and transport API
  • Calibration
  • Intent decoding
• C++ firmware API