Python API Reference

This section documents the full Python API.

class HandExo(name='NMLHandExo', port=None, baudrate=57600, command_delimiter='\\n', send_delay=0.01, verbose=False)[source]

Bases: object

Class to control the NML Hand Exoskeleton via serial communication.

Features:

  • Enable/disable motors

  • Move motors to specific angles

  • Query status (angle, torque, current)

  • Configure velocity and acceleration

  • Retrieve device information

  • Send low-level serial commands

Parameters:

  • port (str)

  • baudrate (int)

  • command_delimiter (str)

  • send_delay (float)

  • verbose (bool)

__init__(name='NMLHandExo', port=None, baudrate=57600, command_delimiter='\\n', send_delay=0.01, verbose=False)[source]

Initializes the HandExo interface.

Args:

name (str): Name of the exoskeleton instance. port (str): Serial port to connect to (e.g., ‘COM3’ or ‘/dev/ttyUSB0’). baudrate (int): Baud rate for the serial connection (default is 57600). command_delimiter (str): Delimiter used to separate commands (default is ‘

‘).

send_delay (float): Delay in seconds after sending a command to allow processing (default is 0.01). verbose (bool): If True, enables verbose logging of commands and responses (default is False).

Parameters:

  • port (str | None)

  • baudrate (int)

  • command_delimiter (str)

  • send_delay (float)

  • verbose (bool)

logger(*argv, warning=False)[source]

Robust debugging print function

Parameters:

  • *argv – (str) Messages to log.

  • warning (bool) – (bool) If True, prints the message in yellow.

connect(port, baudrate)[source]

Establishes a serial connection to the exoskeleton.

Parameters:

  • port (str) – Serial port to connect to.

  • baudrate (int) – Baud rate for the serial connection.

send_command(cmd)[source]

Sends a command to the exoskeleton over the serial connection.

Parameters:

cmd (str) – Command to send to the exoskeleton.

home(motor_id)[source]

Sends a home command to all motors, unless a specific motor ID is provided.

Parameters:

motor_id (int or str) – ID of the motor to home, or ‘all’ to home all motors.”

Returns:

None

info()[source]

Retrieves information about the exoskeleton, including version and motor details.

Returns:

A dictionary containing version and motor information.

Return type:

dict

enable_motor(motor_id)[source]

Enables the torque output for the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to enable.

Returns:

None

disable_motor(motor_id)[source]

Disables the torque output for the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to disable.

Returns:

None

get_motor_angle(motor_id)[source]

Retrieves the current relative angle of the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to query.

Returns:

Current angle of the motor in degrees.

Return type:

float

set_motor_angle(motor_id, angle)[source]

Sets the angle for the specified motor.

Parameters:

  • motor_id (int or str) – ID of the motor to set the angle for.

  • angle (float) – Desired angle in degrees.

Returns:

None

get_absolute_motor_angle(motor_id)[source]

Retrieves the absolute angle of the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to query.

Returns:

Absolute angle of the motor in degrees.

Return type:

float

set_absolute_motor_angle(motor_id, angle)[source]

Sets the absolute angle for the specified motor.

Parameters:

  • motor_id (int or str) – ID of the motor to set the absolute angle for.

  • angle (float) – Desired absolute angle in degrees.

Returns:

None

get_motor_velocity(motor_id)[source]

Retrieves the current velocity of the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to query.

Returns:

Current velocity of the motor in degrees per second.

Return type:

float

set_motor_velocity(motor_id, velocity)[source]

Sets the velocity for the specified motor.

Parameters:

  • motor_id (int or str) – ID of the motor to set the velocity for.

  • velocity (float) – Desired velocity in degrees per second.

Returns:

None

get_motor_acceleration(motor_id)[source]

Retrieves the current acceleration of the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to query.

Returns:

Current acceleration of the motor in degrees per second squared.

Return type:

float

set_motor_acceleration(motor_id, acceleration)[source]

Sets the acceleration for the specified motor.

Parameters:

  • motor_id (int or str) – ID of the motor to set the acceleration for.

  • acceleration (float) – Desired acceleration in degrees per second squared.

Returns:

None

get_motor_torque(motor_id)[source]

Retrieves the current torque of the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to query.

Returns:

Current torque of the motor in Newton-meters.

Return type:

float

get_motor_current(motor_id)[source]

Retrieves the current draw of the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to query.

Returns:

Current draw of the motor in Amperes.

Return type:

float

get_motor_status(motor_id)[source]

Retrieves the status of the specified motor, including angle, torque, current, velocity, and acceleration.

Parameters:

motor_id (int or str) – ID of the motor to query.

Returns:

A dictionary containing the motor’s status.

Return type:

dict

get_motor_limits(motor_id)[source]

Retrieves the limits for the specified motor, including minimum and maximum angles.

Parameters:

motor_id (int or str) – ID of the motor to query.

Returns:

A tuple containing the minimum and maximum angles of the motor.

Return type:

tuple

set_motor_upper_limit(motor_id, upper_limit)[source]

Sets the upper limit for the specified motor.

Parameters:

  • motor_id (int or str) – ID of the motor to set the upper limit for.

  • upper_limit (float) – Desired upper limit in degrees.

Returns:

None

set_motor_lower_limit(motor_id, lower_limit)[source]

Sets the lower limit for the specified motor.

Parameters:

  • motor_id (int or str) – ID of the motor to set the lower limit for.

  • lower_limit (float) – Desired lower limit in degrees.

Returns:

None

set_motor_limits(motor_id, lower_limit, upper_limit)[source]

Sets both the lower and upper limits for the specified motor.

Parameters:

  • motor_id (int or str) – ID of the motor to set the limits for.

  • lower_limit (float) – Desired lower limit in degrees.

  • upper_limit (float) – Desired upper limit in degrees.

Returns:

None

reboot_motor(motor_id)[source]

Reboots the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to reboot.

Returns:

None

enable_led(motor_id)[source]

Enables the LED for the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to enable the LED for.

Returns:

None

disable_led(motor_id)[source]

Disables the LED for the specified motor.

Parameters:

motor_id (int or str) – ID of the motor to disable the LED for.

Returns:

None

help()[source]

Sends a help command to the exoskeleton to retrieve available commands.

Returns:

A string containing the help information from the exoskeleton.

Return type:

str

close()[source]

Closes the serial connection to the exoskeleton.

Returns:

None