Interface Description
All DexHand-related interfaces are encapsulated under the FdHand namespace.
Ret Enum Class
Defines the Ret enumeration class to represent the results of interface operations.
enum class Ret
{
SUCCESS = 0,
FAIL = -1,
TIMEOUT = -2
};
DexHand Interface Class
init
Initializes the DexHand dexterous hand device and scans all connected devices.
Ret init(int flg = 0);
Parameters
flg (int, default 0): Initialization flag, reserved for future expansion.
Return Values
Ret::SUCCESS:
Ret::FAIL:
Ret::TIMEOUT:
get_ip_list
Gets the list of IP addresses of connected devices. Each IP address corresponds to one dexterous hand.
std::vector<std::string> get_ip_list();
Return Values
A list of IP addresses of connected devices (list of strings).
get_name
Gets the device name.
// Device names:
// Inspire： “FSH”
// DexHand-FDH6： “fdhv1”
// DexHand-FDH12： “fdhv2”
std::string get_name(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Values
Device name (string).
get_type
Gets the device type.
// Device types:
// Inspire： “Hand”
// FDH6： “FDH-6L”，“FDH-6R”
// FDH12： “FDH-12L”，“FDH-12R”
std::string get_type(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
Device type (string).
get_driver_ver
Gets the driver firmware version.
std::string get_driver_ver(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
Driver version (string, format: 0.0.0.0).
get_hardware_ver
Gets the hardware PCB version.
std::string get_hardware_ver(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
Hardware version (string, format: 0.0.0.0).
set_pos
Sets the target position of the device. A list of 6/12 degrees of freedom. Write -1 for positions that are not controlled.
6 degrees of freedom correspond to the following positions and ranges:
Index Finger 1: 0-1
Middle Finger 2: 0-1
Ring Finger 3: 0-1
Little Finger 4: 0-1
Thumb 5-6: 0-1
12 degrees of freedom correspond to the following positions and ranges:
Index Finger 1-3：0-1750，0-1780，0-576
Middle Finger 4-5：0-1750，0-1780
Ring Finger 6-7：0-1750， 0-1780
Little Finger 8-9：0-1750， 0-1780
Thumb 10-12：0-1700，0-1700，0-1700
Ret set_pos(std::string ip, std::vector<float> pos);
Parameters
ip (std::string): Target device IP.
pos (std::vector<float>): Target positions (list of floats).
6 degrees of freedom: Each range is [0-1].
Index Finger 1, Middle Finger 2, Ring Finger 3, Little Finger 4, Thumb 5-6.
12 degrees of freedom: See the definition in the interface documentation.
Return Value
Ret::SUCCESS:
Ret::FAIL:
get_pos
Gets the current position of the target device.
std::vector<float> get_pos(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
Current position (list of floats), returns an empty list if communication fails.
reboot
Restarts the device.
Ret reboot();
Ret reboot(std::string ip);
Parameters
ip (std::string, optional): Target device IP, restarts all devices if not specified.
Return Value
Ret::SUCCESS:
Ret::FAIL:
get_ts_matrix
Gets the touch sensor data.
std::vector<std::vector<uint8_t>> get_ts_matrix(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
6*96 byte data list, returns an empty list on failure.
get_pvc
Gets the position in radians, speed, and current.
std::vector<std::vector<float>> get_pvc(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
Returns the position, speed, and current arrays, or an empty list on failure.
set_pvc
Sets position (in radians), velocity, and current values for finger joints. The behavior depends on the device model
FDH12 Default Mode: Position control (radians) using P parameter. In PD control mode, uses PVC parameters (Position/Velocity feedforward/Current feedforward).
FDH12 Joint Range Limits (Radians):
Index1-3：0.2～1.69, 0.01～1.43, -0.04～0.26
Middle4-5：0.2～1.69, 0.01～1.43
Ring6-7：0.2～1.69, 0.01～1.43
Little8-9：0.2～1.69, 0.01～1.43
Thumb10-12：-0.02～1.23, 0.14～1.35, 0.2～1.57
FDH6 Default Mode: Position-Velocity control (PV parameters).
FDH6 Joint Range Limits (Radians):
Index1：0.17～1.78
Middle2：0.17～1.78
Ring3：0.17～1.78
Little4：0.17～1.78
Thumb5-6：0.12-1.28, 0.0-1.68
Ret set_pvc(std::string ip, std::vector<std::vector<float>> pvc);
Parameters
ip (std::string): Target device IP.
pvc (std::vector<std::vector<float>>): Position, speed, and current arrays
Return Value
Ret::SUCCESS: Success
Ret::FAIL: Failure
set_pd_params
Sets the PD control parameters.
Ret set_pd_params(std::string ip, std::vector<std::vector<float>> params);
Parameters
ip (std::string): Target device IP.
params (std::vector<std::vector<float>>): PD control parameters, 2D array
Return Value
Ret::SUCCESS: Success
Ret::FAIL: Failure
set_ctrl_mode
Sets the control mode.
Ret set_ctrl_mode(std::string ip, CtrlType mode);
| Mode | Set-point | Description |
|---|---|---|
| Position mode (default) | any valid angle in pos_des | Position loop closed; velocity and current are only saturated. Enter -1 to disable the limit (replaced internally by the maximum allowed value). DO NOT use excessive current—serious hand injury may occur! |
| PD position mode | ctrl_mode = PD_POS | Output torque = Kp·pos_err + Kd·vel_err + feedforward where pos_err = pos_des − pos_fbk (rad) vel_err = vel_des − vel_fbk (rad/s) feedforward is supplied by the user. |
Parameters
ip (std::string): Target device IP.
mode (CtrlType): control mode
Return Value
Ret::SUCCESS: Success
Ret::FAIL: Failure
get_hand_config
Gets the device configuration.
HandCfg_t get_hand_config(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
HandCfg_t: current hand config
set_hand_config
Sets hand config
Ret set_hand_config(std::string ip, HandCfg_t config);
Parameters
ip (std::string): Target device IP.
config config.
Return Value
Ret::SUCCESS: Success
Ret::FAIL: Failure
get_errorcode
Gets the error code
std::vector<long> get_errorcode(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
Error code list
set_controller_config
Sets control parameters
Ret set_controller_config(std::string ip, CtrlCfg_t config);
Parameters
ip (std::string): Target device IP.
config (CtrlCfg_t): control parameters
Return Value
Ret::SUCCESS: Success
Ret::FAIL: Failure
get_controller_config
Gets control parameters
CtrlCfg_t get_controller_config(std::string ip);
Parameters
ip (std::string): Target device IP.
Return Value
CtrlCfg_t：control parameters
HandType Enum Class
enum class HandType {
FDH_X = 0,
FDH_L = 1,
FDH_R = 2
};
CtrlType Enum Class
enum class CtrlType {
NONE,
POS_LOOP = 2,
PD_LOOP,
POS_VEL_CUR_LOOP,
};
HandCfg_t Config Class
class HandCfg_t
{
public:
int result = 0;
HandType type = HandType::FDH_X;
std::string sn;
std::array<uint8_t, 6> mac;
std::string ip;
std::string gateway;
bool enWriteIntoChip = true;
}
CtrlCfg_t Contrl Config Class
class CtrlCfg_t
{
public:
uint8_t result = 0;
std::array<float, 12> PDKp;
std::array<float, 12> PDKd;
std::array<float, 12> PosKp;
std::array<float, 12> PosKi;
std::array<float, 12> PosKd;
bool enWriteIntoChip = false;
};
Interface Support List
| interface | inspire | fdh6 | fdh12 |
|---|---|---|---|
| init | √ | √ | √ |
| get_ip_list | √ | √ | √ |
| get_name | √ | √ | √ |
| get_type | √ | √ | √ |
| get_driver_ver | √ | √ | √ |
| get_hardware_ver | √ | √ | √ |
| set_pos | √ | √ | √ |
| get_pos | √ | √ | √ |
| reboot() | √ | √ | |
| reboot(ip) | √ | √ | |
| get_ts_matrix | √ | ||
| get_pvc | √ | √ | |
| set_pvc | √ | √ | |
| set_pd_params | √ | ||
| set_ctrl_mode | √ | ||
| get_ctrl_mode | √ | ||
| get_hand_config | √ | √ | |
| set_hand_config | √ | √ | |
| get_errorcode | √ | √ | |
| get_controller_config | √ | ||
| set_controller_config | √ |