Control interface for the Touch Bionics (Össur) RoboLimb prosthetic/robotic hand in Python.
Currently the CAN bus communications is only supported.
The code provides a basic, low-level interface for controlling the hand digits and reading incoming CAN messages. Some usage examples including grasp control can be found in examples.
For technical details please refer to the device user manual which can be found in user_manual.
Here is a minimal example that initiates a connection to the hand, sends a close command for the index finger and closes the connection with the hand:
import time
from robolimb import RoboLimbCAN as RL
r = RL()
r.start()
r.close_finger(2)
time.sleep(1.5)
r.stop()- Python >= 3.6 (other versions have not been tested and may or may not work)
- python-can
- Only tested using the PCAN-USB interface. Device drivers need to be installed (available for Windows and Linux, see previous link).
- CAN feedback messages do not seem to be very reliable. There also seems to be a delay between finger state and feedback messages.