Dexterous Hand Lite Documentation ================================== Preface -------- The Shadow Dexterous Hand Lite is an advanced humanoid robot hand system that provides 16 movements to reproduce as closely as possible the kinematics and dexterity of the human hand. It has been designed to provide comparable force output and movement precision to the human hand. Shadow Hand systems have been used for research in grasping, manipulation, neural control, brain computer interface, industrial quality control, and hazardous material handling. The Shadow Dexterous Hand Lite is a self-contained system - all actuation and sensing is built into the hand and forearm. All versions of the Hand use an EtherCAT bus (Ethernet for Control Automation Technology), providing a 100Mbps Ethernet-based communications field-bus, and full integration into ROS (Robot Operating System). The Hands use Shadow's electric “Smart Motor” actuation system and integrates force and position control electronics, motor drive electronics, motor, gearbox, force sensing and communications into a compact module, 13 of which are packed into the Hand base. .. image:: img/index_hand_lite.png :width: 45% :align: center Overview -------- * :doc:`/user_guide/ov_pelicase_contents` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/ov_laptopbox_contents` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/ov_abbreviations` .. toctree:: :maxdepth: 2 :hidden: :caption: Overview user_guide/ov_pelicase_contents sr_dexterous_hand_documentation/docs/user_guide/ov_laptopbox_contents sr_dexterous_hand_documentation/docs/user_guide/ov_abbreviations Setting up the hand -------------------- * :doc:`/user_guide/sh_connecting_cables` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sh_desktop_icons` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sh_mounting_hand_arm` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sh_launching_hand` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sh_lights` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sh_uploading_logs` .. toctree:: :maxdepth: 2 :hidden: :caption: Setting up the hand user_guide/sh_connecting_cables sr_dexterous_hand_documentation/docs/user_guide/sh_desktop_icons sr_dexterous_hand_documentation/docs/user_guide/sh_mounting_hand_arm sr_dexterous_hand_documentation/docs/user_guide/sh_launching_hand sr_dexterous_hand_documentation/docs/user_guide/sh_lights sr_dexterous_hand_documentation/docs/user_guide/sh_uploading_logs Simulation -------------------------------- * :doc:`/user_guide/sim_gazebo` .. toctree:: :maxdepth: 2 :hidden: :caption: Simulation user_guide/sim_gazebo Software description --------------------- * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_First_time_users` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Controling_hand` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Accesing_data` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_User_Interface` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Command_line` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Repositories` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Robot_commander` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Saving_states` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Autodetection` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Robot_description` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Fingertips` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sd_Firmware` .. toctree:: :maxdepth: 2 :hidden: :caption: Software description sr_dexterous_hand_documentation/docs/user_guide/sd_First_time_users sr_dexterous_hand_documentation/docs/user_guide/sd_Controling_hand sr_dexterous_hand_documentation/docs/user_guide/sd_Accesing_data sr_dexterous_hand_documentation/docs/user_guide/sd_User_Interface sr_dexterous_hand_documentation/docs/user_guide/sd_Command_line sr_dexterous_hand_documentation/docs/user_guide/sd_Repositories sr_dexterous_hand_documentation/docs/user_guide/sd_Robot_commander sr_dexterous_hand_documentation/docs/user_guide/sd_Saving_states sr_dexterous_hand_documentation/docs/user_guide/sd_Autodetection sr_dexterous_hand_documentation/docs/user_guide/sd_Robot_description sr_dexterous_hand_documentation/docs/user_guide/sd_Fingertips sr_dexterous_hand_documentation/docs/user_guide/sd_Firmware Mechanical description ----------------------------------- * :doc:`/user_guide/md_dimentions` * :doc:`/user_guide/md_kinematics` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/md_finger` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/md_thumb` * :doc:`/user_guide/md_ranges` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/md_position_sensors` * :doc:`/user_guide/md_motor_unit` * :doc:`/user_guide/md_motor_layout` .. toctree:: :maxdepth: 2 :hidden: :caption: Mechanical description user_guide/md_dimentions user_guide/md_kinematics sr_dexterous_hand_documentation/docs/user_guide/md_finger sr_dexterous_hand_documentation/docs/user_guide/md_thumb user_guide/md_ranges sr_dexterous_hand_documentation/docs/user_guide/md_position_sensors user_guide/md_motor_unit user_guide/md_motor_layout Electrical description ----------------------------------- * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/ed_chipset` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/ed_dataflow` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/ed_control_description` .. toctree:: :maxdepth: 2 :hidden: :caption: Electrical description sr_dexterous_hand_documentation/docs/user_guide/ed_chipset sr_dexterous_hand_documentation/docs/user_guide/ed_dataflow sr_dexterous_hand_documentation/docs/user_guide/ed_control_description Connectors and Pinouts ----------------------------------- * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/cp_external_connectors` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/cp_internal_connectors` .. toctree:: :maxdepth: 2 :hidden: :caption: Connectors and Pinouts sr_dexterous_hand_documentation/docs/user_guide/cp_external_connectors sr_dexterous_hand_documentation/docs/user_guide/cp_internal_connectors Maintaining the system ----------------------- * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/mh_mechanical_maintenance` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/mh_electronic_maintenance` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/mh_installing_the_software` .. toctree:: :maxdepth: 2 :hidden: :caption: Maintaining the hand sr_dexterous_hand_documentation/docs/user_guide/mh_mechanical_maintenance sr_dexterous_hand_documentation/docs/user_guide/mh_electronic_maintenance sr_dexterous_hand_documentation/docs/user_guide/mh_installing_the_software FAQ & Changelog ---------------- * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/fc_FAQ` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/fc_nuc_server` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/fc_changelog` .. toctree:: :maxdepth: 2 :hidden: :caption: FAQ & Changelog sr_dexterous_hand_documentation/docs/user_guide/fc_FAQ sr_dexterous_hand_documentation/docs/user_guide/fc_nuc_server sr_dexterous_hand_documentation/docs/user_guide/fc_changelog Support & Teamviewer --------------------- * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sp_support` * :doc:`/sr_dexterous_hand_documentation/docs/user_guide/sp_restore_backup` .. toctree:: :maxdepth: 2 :hidden: :caption: Support & Teamviewer sr_dexterous_hand_documentation/docs/user_guide/sp_support sr_dexterous_hand_documentation/docs/user_guide/sp_restore_backup