A Python library for controlling the Inspire Hand RH56dfq robotic hand through a serial connection using Modbus RTU protocol.
- Complete control of the Inspire Hand RH56dfq
- Pythonic API for intuitive hand control
- Individual finger manipulation
- Pre-defined gestures (pinch, point, thumbs-up, grip)
- Status monitoring and error handling
- Support for speed and force control
pip install git+https://github.com/yourusername/inspire-hand-pkg.gitTo just quickly interact with the CLI manually (CLI can also be called purely from terminal/bash commands, see below).
python -m inspire_hand.cli interactiveInteracting within a .py script:
from inspire_hand import InspireHand
# Connect to the hand
with InspireHand(port='/dev/ttyUSB0') as hand:
# Open all fingers
hand.open_all_fingers()
# Close just the index finger
hand.index_finger.close()
# Make a pinch gesture
hand.pinch(force=500)
# Get the current angle of the thumb
thumb_angle = hand.thumb_bend.angle
print(f"Thumb angle: {thumb_angle}")from inspire_hand import InspireHand
# Option 1: Using context manager (recommended)
with InspireHand(port='/dev/ttyUSB0', baudrate=115200) as hand:
# Your code here
pass
# Option 2: Manual connection
hand = InspireHand(port='/dev/ttyUSB0', baudrate=115200)
hand.open()
# Your code here
hand.close()# Open and close all fingers
hand.open_all_fingers()
hand.close_all_fingers()
# Control individual fingers
hand.index_finger.open()
hand.thumb_bend.close()
hand.middle_finger.move(500) # Move to middle position (0-1000)
# Set speed for all fingers (0-1000)
hand.set_all_finger_speeds(800)
# Set force threshold for all fingers (0-1000)
hand.set_all_finger_forces(500)# Pinch gesture (thumb and index finger)
hand.pinch(force=500)
# Pointing gesture (index finger extended)
hand.point()
# Thumbs up gesture
hand.thumbs_up()
# Grip (close all fingers with specific force)
hand.grip(force=700)# Get current angles of all fingers
angles = hand.get_finger_angles()
# Get current force values
forces = hand.get_finger_forces()
# Get status of a specific finger
status = hand.index_finger.status
if status == FingerStatus.REACHED_FORCE:
print("Index finger has reached the force limit")
# Check for errors
if hand.middle_finger.error & ErrorCode.OVER_TEMPERATURE:
print("Middle finger temperature is too high!")If you have multiple Inspire Hands, you can control them simultaneously using this library.
If your hands are connected to different USB ports, they'll be assigned different serial port names (e.g., /dev/ttyUSB0 and /dev/ttyUSB1). You can create separate instances for each hand:
from inspire_hand import InspireHand
# Create instances for each hand
left_hand = InspireHand("/dev/ttyUSB0") # First hand
right_hand = InspireHand("/dev/ttyUSB1") # Second hand
# Control them independently
left_hand.open_all_fingers()
right_hand.close_all_fingers()
# Or coordinate them for bimanual tasks
left_hand.pinch()
right_hand.grip()To see which ports your hands are connected to, you can use:
ls -l /dev/ttyUSB*If both hands are on the same serial bus (e.g., RS-485 daisy chain), use different slave IDs:
from inspire_hand import InspireHand
# Create instances with different slave IDs
left_hand = InspireHand("/dev/ttyUSB0", slave_id=1) # First hand with ID 1
right_hand = InspireHand("/dev/ttyUSB0", slave_id=2) # Second hand with ID 2
# Control them individually
left_hand.thumbs_up()
right_hand.point()Using the CLI with multiple hands:
# Control left hand
python -m inspire_hand --port /dev/ttyUSB0 gesture pinch
# Control right hand
python -m inspire_hand --port /dev/ttyUSB1 gesture gripOr with different slave IDs:
python -m inspire_hand --port /dev/ttyUSB0 --slave-id 1 open all
python -m inspire_hand --port /dev/ttyUSB0 --slave-id 2 close allMIT License