Examples

Connect to the Exo

Find your COM port and verify the serial link at 57600 baud.

Open

Hardware Controls

Home, enable/disable, get/set params, LEDs—direct device commands.

Open

Telemetry + GUI

Stream sensors and drive the GUI.

Open

Live EMG Classification

250 ms windows with 50 ms step, real-time predictions.

Open

ROS2 Teleop

Coming soon.

Coming Soon

LSL Streaming

Publish/consume exo data via Lab Streaming Layer.

Open

Goal: confirm the board is visible on your computer, then exercise the CLI: list ports, query info, home, send gestures/LED, monitor output.

Prerequisites

Controller flashed (e.g., OpenRB-150) and powered.
USB data cable connected to your PC.
Python 3.10+ and pyserial installed:
```
pip install pyserial
```
tools\hand_exo_cli.py present (from this repo).
Default baud: 57600 (change if your firmware differs).

1) Find the serial port

# Windows
python tools\hand_exo_cli.py --list-ports
# Or: Device Manager → Ports (COM & LPT)

# macOS
ls /dev/tty.usbmodem* /dev/tty.usbserial* 2>/dev/null
# Linux
ls /dev/ttyUSB* /dev/ttyACM* 2>/dev/null

2) Connect and query device info

python tools\hand_exo_cli.py --connect COM5 --baud 57600 --info --read-for 2

Expected: a brief info block (firmware, board, etc.) without errors.

3) Home axes

# Home all (default)
python tools\hand_exo_cli.py --connect COM5 --home --read-for 3

# Home a specific target (if supported, e.g., "thumb")
python tools\hand_exo_cli.py --connect COM5 --home thumb --read-for 3

4) Send commands

# Gesture demo
python tools\hand_exo_cli.py --connect COM5 --send "gc:pinch:a" --read-for 2

# Toggle LED (firmware must support these tokens)
python tools\hand_exo_cli.py --connect COM5 --send "led:1:on" --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "led:1:off"

5) Continuous monitor (after actions)

# Send a command then tail the serial stream (Ctrl-C to stop)
python tools\hand_exo_cli.py --connect COM5 --send "sys:info" --monitor

6) Useful options

# Different line ending (if your firmware expects CRLF)
python tools\hand_exo_cli.py --connect COM5 --eol crlf --send "sys:info" --read-for 2

# Custom info command
python tools\hand_exo_cli.py --connect COM5 --info --info-cmd "sys:ver" --read-for 2

# Change baud rate (match your firmware)
python tools\hand_exo_cli.py --connect COM5 --baud 115200 --info --read-for 2

Troubleshooting

No port appears: try a different USB cable/port; on Windows, set driver to WinUSB/CDC via Zadig.
Port busy: close Arduino Serial Monitor/PuTTY and retry.
Linux permissions: sudo usermod -a -G dialout $USER then log out/in.
Wrong EOL: try --eol crlf if commands are ignored.

Run the telemetry server and GUI in separate terminals.

# terminal 1 — telemetry
python tools\telemetry_server.py

# terminal 2 — GUI
python tools\gui.py

Expected: live sensor stream + control panel.

Stream 250 ms windows with 50 ms step and classify in real time.

python examples\05_emg_feature_pipeline\realtime_predict.py --device intan --win 0.25 --step 0.05

Direct device control using tools\hand_exo_cli.py. These examples send plain text tokens over serial. Exact tokens may differ per firmware—try help or see your Doxygen docs for the authoritative list.

Tip: Chain multiple --send flags to run a short sequence, and use --read-for to capture responses.

Status & Info

# Print device info (uses --info-cmd, defaults to "sys:info")
python tools\hand_exo_cli.py --connect COM5 --info --read-for 2

# Ask firmware for version/help (if supported)
python tools\hand_exo_cli.py --connect COM5 --send "sys:ver" --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "help" --read-for 3

Homing & Motion

# Home all or a specific target (if supported, e.g., "thumb" / "index")
python tools\hand_exo_cli.py --connect COM5 --send "home all"   --read-for 3
python tools\hand_exo_cli.py --connect COM5 --send "home thumb" --read-for 3

# Demo gesture (example token)
python tools\hand_exo_cli.py --connect COM5 --send "gc:pinch:a" --read-for 2

Enable / Disable Actuators

# Common patterns (your firmware may vary):
#   mot:all:on / mot:all:off
#   motor:enable:all / motor:disable:all
python tools\hand_exo_cli.py --connect COM5 --send "mot:all:on"  --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "mot:all:off" --read-for 1

Get / Set Parameters

Many firmwares expose a get:PARAM / set:PARAM:VALUE convention. Replace names/values with those documented by your firmware.

# Examples (adjust to your command set)
python tools\hand_exo_cli.py --connect COM5 --send "get:baud"           --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "set:baud:57600"     --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "get:lim:curr"       --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "set:lim:curr:0.8"   --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "get:lim:vel"        --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "set:lim:vel:0.5"    --read-for 1

Sensors & Calibration

# Read sensors (examples; adapt to your tokens)
python tools\hand_exo_cli.py --connect COM5 --send "read:force"  --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "read:emg"    --read-for 1

# Zero / tare (examples)
python tools\hand_exo_cli.py --connect COM5 --send "zero:force"  --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "cal:emg:base" --read-for 2

IO & Utilities

# LED control (already supported in your earlier docs)
python tools\hand_exo_cli.py --connect COM5 --send "led:1:on"  --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "led:1:off" --read-for 1

# Save & load config (if your firmware supports)
python tools\hand_exo_cli.py --connect COM5 --send "cfg:save"    --read-for 1
python tools\hand_exo_cli.py --connect COM5 --send "cfg:load:0"  --read-for 1

Recipe — Safety-limited demo

python tools\hand_exo_cli.py --connect COM5 `
  --send "mot:all:on" `
  --send "set:lim:curr:0.6" `
  --send "home all" `
  --send "gc:pinch:a" `
  --send "mot:all:off" `
  --read-for 2

Safety: keep current/velocity limits conservative for first runs. Use an E-stop and clear workspace.

Stream exo telemetry over Lab Streaming Layer (LSL) using your provided demo scripts.

Prerequisites

pip install pylsl

1) Start an outlet (publisher)

Option A — hardware bridge (recommended when the exo is connected):

python examples\lsl\lsl_broadcast_test.py

Option B — synthetic data (no hardware required):

python examples\lsl\demo_send.py

2) Consume/print samples

Basic subscriber that prints incoming data:

python examples\lsl\lsl_subscribe_test.py

3) Visualize

Pick any of the provided visualizers:

# Grid plot of multiple channels
python examples\lsl\lsl_grid_plot.py

# Stacked time series
python examples\lsl\lsl_stacked_plot.py

# RMS bar plot (windowed feature)
python examples\lsl\lsl_rms_barplot.py

4) Gesture/control subscribers (optional)

# Subscribe to gesture labels or control messages
python examples\lsl\lsl_gesture_sub.py

# Classifier-trigger demo
python examples\lsl\lsl_classifier_trigger.py

# Gesture controller (publishes control/acts on streams)
python examples\lsl\lsl_gesture_controller.py

Troubleshooting

No data in subscribers: ensure one of the publishers (lsl_broadcast_test.py or demo_send.py) is running first.
Multiple streams: some scripts may have hardcoded stream names—open the file to confirm the name/type if needed.
High CPU: lower plotting refresh or sample rate in the scripts.