Sandia Hand Documentation and User's Manual

• Subsystem Overviews

  • Mechanical

  • Firmware

  • Software

  • Electrical

• Hardware Bringup

  • Mechanical Fuse

  • Cable Tensioning

  • Finger Attachment

  • Homing Procedure

• Tutorials

  1. Install prerequisites

  2. Get the software

  3. Bring up the driver for a single hand

  4. View data streams

  5. Single-hand gestures

  6. Teleop with a USB slider widget

  7. Sign Language Demo

  8. Bring up both hands

  9. Two-hand gestures

• Troubleshooting / FAQ

  • Where is the documentation for the hand?

  • Can the hand ignore certain misbehaving fingers, so that I can run the hand with less than all four fingers operational?

  • How can I tell if the palm tactile board is working?

  • Why doesn't the ROS driver provide force control?

  • How do I focus the lenses?

  • What about the fingertip tactile sensing?

  • Is the tactile sensing method the same as on the iRobot Hand?

  • What kind of tactile calibration is recommended?

Points of Contact:

• Mechanical: Jason Wheeler, Sandia jwwheel@sandia.gov

• Electrical/Software: Morgan Quigley, OSRF morgan@osrfoundation.org