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ROH-A001 & ROH-A002

User Manual

ROH-A001/ROH-A002 User Manual

Communication Protocol

Serial&CAN

Modbus

ROS1 Development Package

ROHand's ROS1 support is based on the rohand_ros_pkg package, the following is the usage environment:

  • The currently supported ROHHand series include ROH-A001, ROH-A002, ROH-LiteS001, ROH-AP001, and ROH-AP002.

  • ROS1 supported Ubuntu versions: 20.04(Noetic)

  • ROHand supported nodes: ModBus-RTU, SerialCtrl and teleop (for debugging only)

For installation details of ROS1 environment, please visit fishros

1. Install ROS1 environment

Use the one-click installation command to install ROS1 and select a supported version 

wget http://fishros.com/install -O fishros && . fishros

2. Download rohand_ros_pkg

  • Method 1: Click this link to download

  • Method 2: Visit rohand_ros_pkg GitHub page to download the latest version

  • Method 3: Obtain via clone: 

    cd ~
mkdir -p ros_ws/src
cd ros_ws/src
git clone ssh://git@github.com/oymotion/rohand_ros_pkg

3. Run ROS1 project

Please visit ROS1 README for more details.

ROS2 Development Package

ROHand's ROS2 support is based on the rohand_ros2_pkg package, the following is the usage environment:

  • The currently supported ROHHand series include ROH-A001, ROH-A002, ROH-LiteS001, ROH-AP001, and ROH-AP002.

  • ROS2 supported Ubuntu versions: 22.04(humble or rolling)

  • ROHand supported nodes: ModBus-RTU, SerialCtrl and teleop (for debugging only)

For installation details of ROS1 environment, please visit fishros

1. Install ROS2 environment

Use the one-click installation command to install ROS2 and select a supported version 

wget http://fishros.com/install -O fishros && . fishros

2. Download rohand_ros2_pkg

  • Method 1: Click this link to download

  • Method 2: Visit rohand_ros2_pkg GitHub page to download the latest version

  • Method 3: Obtain via clone: 

    cd ~
mkdir -p ros2_ws/src
cd ros2_ws/src
git clone ssh://git@github.com/oymotion/rohand_ros2_pkg

3. Run ROS2 project

Please visit ROS2 README for more details.

Python Demos

These example programs aim to provide a convenient Python interface and sample code for the secondary development of the OYMotion dexterous hand. Through these example programs, users can easily achieve control of the dexterous hand, thereby accelerating the development process of dexterous hand-related applications.

Supported Operating Systems and Software Version

Operating Systems

  • Windows: Supports 64-bit versions under Windows 10/11 operating systems
  • Linux: Supports the x64 architecture and ARM architecture of the Linux operating system

Software Version

  • Python: Version 3.12 and above

Download

  • Method 1: Click this linkto download
  • Method 2: Visit roh_demos GitHub page to download the latest version

  • Method 3: Obtain via clone: 

    git clone https://github.com/oymotion/roh_demos

Run

After installation, you can find the README.md file under each sample project, which details how to install the required runtime environment and how to run the sample programs

Introduction to the Demos

1. gesture_ctrled_rohand

This example uses a computer camera to perform gesture recognition on the OYMotion dexterous hand, enabling it to control the dexterous hand based on the recognized gestures

2. gForce_ctrled_rohand

This example uses the myoelectric bracelet gForce series to control the dexterous hand to make different movements based on the trained gesture models

gForce APP for bracelet training, please refer to this file. Goal: Train and apply the model

3.glove_ctrled_rohand

This example controls the movement of the dexterous hand via a wireless Bluetooth glove or a wired glove

4.loop_test

This example implements a cyclic motion test for the dexterous hand to observe whether its movements are normal

SDK C/C++

Download

  • Method 1: Click this link to download
  • Method 2: Visit ohand_serial_sdk {: target="_blank"}GitHub page to download the latest version

  • Method 3: Obtain via clone: 

    git clone https://github.com/oymotion/ohand_serial_sdk

SDK Guide

Click this link to get more information

SDK Python

Download

SDK Guide

Click this link to get more details