Quickstart

Prerequisites

  • Python 3.10–3.12 (Python 3.11 recommended).

  • An OpenRB-150 flashed with matching NML Hand Exo firmware.

  • A validated calibration profile for the connected side.

  • A supervised bench setup with immediate access to power and emergency stop.

Install

py -3.11 -m venv .venv
.\.venv\Scripts\Activate.ps1
python -m pip install -e .

Check the applications without opening hardware

handexo --version
handexo --help
nml-task-cue --help

Connect

Launch handexo gui, select the active side, scan for the OpenRB serial port, and connect. Dual-CDC firmware exposes two COM ports on one USB cable; select either member and allow the GUI to pair its sibling interface.

Before motion

  1. Confirm every expected integer Dynamixel ID is present.

  2. Apply and inspect the correct side-specific calibration profile.

  3. Confirm current and velocity limits.

  4. Arm only the motors required by the experiment.

  5. Test stop behavior before placing the exoskeleton on a participant.

See Python usage for the Python API and the repository architecture documents for dual-side and telemetry details.