Robotera XHAND1

Setup Instruction for the XHAND1

Introduction

XHAND1 is a 5-fingered robotic dexterous hand from Robotera with 12 fully active degrees of freedom, 3 for the thumb and index finger, and 2 for each of the remaining fingers.

Xhand has a one-handed grip up to 80N and 25Kg load and is equipped with a high-resolution (>100 points) tactile array sensor on each finger, providing three-dimensional force tactile and temperature information.

More information can be found here (https://www.robotera.com/en/goods1/4.html)

Hardware Components

The XHAND1 delivery box contains the following items :

1. The Left or Right XHand

2. A connection cable using the DF62B-13EP-2.2C connector for XHAND for supplying the power and connecting the xHand to the Cortex (via ethernet)

3. AC power supply with 48V DC output.

4. An adapter is included to mount the xHand to the robot arm.

XHAND DF62B-13EP-2.2C Connector Pin Diagram

The Pin diagram for the ethernet cable (for ethercat) for extension purposes

RJ45 Pin Out and EtherCat Pin Description

Hardware Setup

For using the xHand with the robotic arm

1. Mount the xHand to the Robotic Arm Tool Link using the 3D printed adapter provided.

2. Connect the ethernet from the XHAND to the ethernet port of the ER Cortex (Note: Please make sure to set the IP assignment to dynamic for the ethernet port)

Note: If the router uses an Ethernet connection, use a USB-to-Ethernet converter to connect the Cortex to the network.

When using XHAND1 with xArm6/xArm7, the End Effector Settings of the xArm needs to be adjusted as mentioned in the section Configuration for xArm to use the Custom End Effector

Software Setup

Please follow the Cortex Firmware Configuration steps to set up the Robotera XHAND1 for use with AMAS.

Note: Since the XHAND1 is directly connected to the Cortex and not via the robot's interface, it is treated as a Robot in the Command Console.

To setup XHAND1, select the robot the XHAND1 is attached to, and change its end effector to xHandRight (xHandLeft will be integrated in future). This will automatically create a robot for the XHAND1.

Note: To utilize each fingers degree of motion freely in the dexterous hand in AMAS VR app, speech recognition must be enabled along with hand tracking.

Hand Tracking allows the mapping of the target from user hands to the dexterous hand for increased usability.