Revo 2 Tactile Dexterous Hand Adaptive Grasping Example

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• Revo 2 Tactile Adaptive Grasping Example

Introduction

This is an adaptive grasping example based on the Capacitive Sensor Haptic Feedback Dexterous Hand. By collecting tactile signals from the fingers in real-time, executing tactile perception algorithms (such as contact detection and stiffness recognition), and dynamically adjusting the gripping current, it achieves compliant grasping and adaptive control for objects of varying stiffness.

System Structure and Function

Module File	Function Overview
main.py	The main system entry point. Responsible for module initialization, asynchronous scheduling, and executing the example grasping tasks.
data_reader.py	Collects Revo 2 capacitive tactile sensor data in real-time and maintains a fixed-length buffer.
tactile_processor.py	Performs algorithmic processing on the collected tactile data, including contact detection and stiffness recognition.
grasp_controller.py	Controls the dexterous hand by dynamically adjusting finger currents based on tactile feedback to achieve adaptive grasping and releasing.

Core Control Commands and Parameter Description

The core control command of the system is:

await controller.grasp_with_speed(num_fingers=0)

This command performs gripping or releasing actions based on position and velocity control modes, achieving different types of grips by specifying the number of fingers.

num_fingers Parameter Meaning:

num_fingers Value	Grip Type	Involved Fingers	Description
0	Release All	—	Spread all fingers and return to the starting position.
2	Two-Finger Pinch	Thumb + Index Finger	Suitable for picking up small objects (such as foam blocks).
3	Three-Finger Pinch	Thumb + Index Finger + Middle Finger	Stably grasps medium-sized objects (such as paper cups).
5	Five-Finger Grip	Thumb + Four Fingers	Full fist grip, used for grasping larger objects (such as a water bottle).

Usage

cd revo2_tactile_grasp
# Install dependencies
(py310) ➜  python git:(main) ✗ pip3 install -r requirements.txt
# Run Example
(py310) ➜  python git:(main) ✗ python main.py

Sample Video