Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2022-08-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The Softhand ROS package

Additional Links

No additional links.

Maintainers

  • Shingo Kitagawa

Authors

  • Shingo Kitagawa

softhand_ros

ROS package for SoftHand

Note

This package depends on the branch below.

Citation

Softhand v1

@INPROCEEDINGS{hirose_softhand_v1,
  author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution}, 
  year={2019},
  volume={},
  number={},
  pages={4699-4705},
  doi={10.1109/IROS40897.2019.8968011}
}

Softhand v2

@INPROCEEDINGS{hirose_softhand_v2,
  author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
  booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)}, 
  title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration}, 
  year={2022},
  volume={},
  number={},
  pages={109-116},
  doi={10.1109/RoboSoft54090.2022.9762208}
}

Installation

Workspace build

source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build

Udev installation

source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

Softhand Description

Softhand v1

Softhand V1 is designed for contact pressure distribution.

The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.

For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution

Softhand v2

Softhand V2 is designed for waterproof and variable stiffness.

The hand can grasp as softhand v1, but also can massage human's head and hair.

For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.

How to use

Launch softhand

For softhand v1

source ~/softhand_ws/devel/setup.bash
# for left softhand v1
roslaunch softhand_ros softhand_left.launch
# for right softhand v1
roslaunch softhand_ros softhand_right.launch

For softhand v2

source ~/softhand_ws/devel/setup.bash
# for left softhand v2
roslaunch softhand_ros softhand_v2_left.launch
# for right softhand v2
roslaunch softhand_ros softhand_v2_right.launch

Control softhand by euslisp

For softhand v1

source ~/softhand_ws/devel/setup.bash
roscd softhand_ros/euslisp
roseus softhand-interface.l
# euslisp interactive mode
# (softhand-init)
# (send *ri* :start-grasp)
# (send *ri* :stop-grasp)

For softhand v2

source ~/softhand_ws/devel/setup.bash
roscd softhand_ros/euslisp
roseus softhand-v2-interface.l
# euslisp interactive mode
# (softhand-v2-init)
# (send *ri* :close-thumb)
# (send *ri* :open-thumb)
# (send *ri* :start-grasp)
# (send *ri* :stop-grasp)

Softhand hardware installation

Softhand v1 dynamixel setup

Check default parameters of dynamixel

Motor's default id is 1 and default baud rate is 57600.

rosrun dynamixel_driver info_dump.py -b 57600 -p /dev/{l/r}hand-e160 1

Set baud rate

# set baud rate from 57600 to 1000000
rosrun dynamixel_driver set_servo_config.py -b 57600 -r 1 <MOTOR_ID> -p /dev/{l/r}hand-e160

Set motor ID

  • 1: Thumb
  • 2: Index finger
  • 3: Middle finger
rosrun dynamixel_driver change_id.py <OLD_MOTOR_ID> <NEW_MOTOR_ID> -b 1000000 -p /dev/{l/r}hand-e160

Disable overload error

from dynamixel_driver import dynamixel_io

# for softhand v1
dxl_io = dynamixel_io.DynamixelIO("/dev/{l/r}hand-e160", 1000000)
dxl_io.write(<MOTOR_ID>, 17, (4,))
dxl_io.write(<MOTOR_ID>, 18, (4,))

Softhand v2 dynamixel setup

Check default parameters of dynamixel

Motor's default id is 1 and default baud rate is 57600.

rosrun dynamixel_driver info_dump.py -b 57600 -p /dev/{l/r}hand-e160 1

Set baud rate

# set baud rate from 57600 to 57143
rosrun dynamixel_driver set_servo_config.py -b 57600 -r 34 <MOTOR_ID> -p /dev/{l/r}hand-v2-e160

Set motor ID

  • 1: Thumb
  • 2: Index finger
  • 3: Middle finger
rosrun dynamixel_driver change_id.py <OLD_MOTOR_ID> <NEW_MOTOR_ID> -b 57600 -p /dev/{l/r}hand-v2-e160

Disable overload error

from dynamixel_driver import dynamixel_io

# for softhand v2
dxl_io = dynamixel_io.DynamixelIO("/dev/{l/r}hand-v2-e160", 57600)
dxl_io.write(<MOTOR_ID>, 17, (4,))
dxl_io.write(<MOTOR_ID>, 18, (4,))

Change product to distinguish E160 board

This is for USB2TTL dongle and DXSharingBoard(TTL)

We distinguish left and right hand with product field of FTDI chip on E160.

  • Left softhand v1 E160's product: LEFT-E160
  • Right softhand v1 E160's product: RIGHT-E160
  • Left softhand v2 E160's product: LEFT-V2-E160
  • Right softhand v2 E160's product: RIGHT-V2-E160

In order to change them, please follow jsk_apc doc.

If you don't have windows, you can do it with richardeoin/ftx-prog as follows.

git clone https://github.com/richardeoin/ftx-prog.git
cd ftx-prog/
make
# for left softhand v1
sudo ./ftx_prog --product LEFT-E160
# for right softhand v1
sudo ./ftx_prog --product RIGHT-E160
# for left softhand v2
sudo ./ftx_prog --product LEFT-V2-E160
# for right softhand v2
sudo ./ftx_prog --product RIGHT-V2-E160

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged softhand_ros at answers.ros.org

Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/jsk-ros-pkg/jsk_robot.git
VCS Type git
VCS Version master
Last Updated 2022-08-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The Softhand ROS package

Additional Links

No additional links.

Maintainers

  • Shingo Kitagawa

Authors

  • Shingo Kitagawa

softhand_ros

ROS package for SoftHand

Note

This package depends on the branch below.

Citation

Softhand v1

@INPROCEEDINGS{hirose_softhand_v1,
  author={Hirose, Toshinori and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
  booktitle={2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution}, 
  year={2019},
  volume={},
  number={},
  pages={4699-4705},
  doi={10.1109/IROS40897.2019.8968011}
}

Softhand v2

@INPROCEEDINGS{hirose_softhand_v2,
  author={Hirose, Toshinori and Kitagawa, Shingo and Hasegawa, Shun and Kakiuchi, Yohei and Okada, Kei and Inaba, Masayuki},
  booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)}, 
  title={Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration}, 
  year={2022},
  volume={},
  number={},
  pages={109-116},
  doi={10.1109/RoboSoft54090.2022.9762208}
}

Installation

Workspace build

source /opt/ros/$ROS_DISTRO/setup.bash
mkdir ~/softhand_ws/src -p
cd ~/softhand_ws/src
wget https://raw.githubusercontent.com/knorth55/softhand_ros/master/fc.rosinstall -O .rosinstall
wstool up
rosdep install --ignore-src --from-paths . -y -r -i
cd ~/softhand_ws
catkin build

Udev installation

source ~/softhand_ws/devel/setup.bash
roscd softhand_ros
sudo cp udev/*.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

Softhand Description

Softhand v1

Softhand V1 is designed for contact pressure distribution.

The hand can grasp soft and fragile object with low power, and solid and heavy object with high power.

For more detailed information, please read Design of Soft Flexible Wire-driven Finger Mechanism for Contact Pressure Distribution

Softhand v2

Softhand V2 is designed for waterproof and variable stiffness.

The hand can grasp as softhand v1, but also can massage human's head and hair.

For more detailed information please read Waterproof Soft Robot Hand with Variable Stiffness Wire-driven Finger Mechanism Using Low Melting Point Alloy for Contact Pressure Distribution and Concentration.

How to use

Launch softhand

For softhand v1

source ~/softhand_ws/devel/setup.bash
# for left softhand v1
roslaunch softhand_ros softhand_left.launch
# for right softhand v1
roslaunch softhand_ros softhand_right.launch

For softhand v2

source ~/softhand_ws/devel/setup.bash
# for left softhand v2
roslaunch softhand_ros softhand_v2_left.launch
# for right softhand v2
roslaunch softhand_ros softhand_v2_right.launch

Control softhand by euslisp

For softhand v1

source ~/softhand_ws/devel/setup.bash
roscd softhand_ros/euslisp
roseus softhand-interface.l
# euslisp interactive mode
# (softhand-init)
# (send *ri* :start-grasp)
# (send *ri* :stop-grasp)

For softhand v2

source ~/softhand_ws/devel/setup.bash
roscd softhand_ros/euslisp
roseus softhand-v2-interface.l
# euslisp interactive mode
# (softhand-v2-init)
# (send *ri* :close-thumb)
# (send *ri* :open-thumb)
# (send *ri* :start-grasp)
# (send *ri* :stop-grasp)

Softhand hardware installation

Softhand v1 dynamixel setup

Check default parameters of dynamixel

Motor's default id is 1 and default baud rate is 57600.

rosrun dynamixel_driver info_dump.py -b 57600 -p /dev/{l/r}hand-e160 1

Set baud rate

# set baud rate from 57600 to 1000000
rosrun dynamixel_driver set_servo_config.py -b 57600 -r 1 <MOTOR_ID> -p /dev/{l/r}hand-e160

Set motor ID

  • 1: Thumb
  • 2: Index finger
  • 3: Middle finger
rosrun dynamixel_driver change_id.py <OLD_MOTOR_ID> <NEW_MOTOR_ID> -b 1000000 -p /dev/{l/r}hand-e160

Disable overload error

from dynamixel_driver import dynamixel_io

# for softhand v1
dxl_io = dynamixel_io.DynamixelIO("/dev/{l/r}hand-e160", 1000000)
dxl_io.write(<MOTOR_ID>, 17, (4,))
dxl_io.write(<MOTOR_ID>, 18, (4,))

Softhand v2 dynamixel setup

Check default parameters of dynamixel

Motor's default id is 1 and default baud rate is 57600.

rosrun dynamixel_driver info_dump.py -b 57600 -p /dev/{l/r}hand-e160 1

Set baud rate

# set baud rate from 57600 to 57143
rosrun dynamixel_driver set_servo_config.py -b 57600 -r 34 <MOTOR_ID> -p /dev/{l/r}hand-v2-e160

Set motor ID

  • 1: Thumb
  • 2: Index finger
  • 3: Middle finger
rosrun dynamixel_driver change_id.py <OLD_MOTOR_ID> <NEW_MOTOR_ID> -b 57600 -p /dev/{l/r}hand-v2-e160

Disable overload error

from dynamixel_driver import dynamixel_io

# for softhand v2
dxl_io = dynamixel_io.DynamixelIO("/dev/{l/r}hand-v2-e160", 57600)
dxl_io.write(<MOTOR_ID>, 17, (4,))
dxl_io.write(<MOTOR_ID>, 18, (4,))

Change product to distinguish E160 board

This is for USB2TTL dongle and DXSharingBoard(TTL)

We distinguish left and right hand with product field of FTDI chip on E160.

  • Left softhand v1 E160's product: LEFT-E160
  • Right softhand v1 E160's product: RIGHT-E160
  • Left softhand v2 E160's product: LEFT-V2-E160
  • Right softhand v2 E160's product: RIGHT-V2-E160

In order to change them, please follow jsk_apc doc.

If you don't have windows, you can do it with richardeoin/ftx-prog as follows.

git clone https://github.com/richardeoin/ftx-prog.git
cd ftx-prog/
make
# for left softhand v1
sudo ./ftx_prog --product LEFT-E160
# for right softhand v1
sudo ./ftx_prog --product RIGHT-E160
# for left softhand v2
sudo ./ftx_prog --product LEFT-V2-E160
# for right softhand v2
sudo ./ftx_prog --product RIGHT-V2-E160

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged softhand_ros at answers.ros.org