Revo 2 Tactile Dexterous Hand Adaptive Grasping Example

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• Revo 2 Tactile Adaptive Grasping Example

Introduction

Based on Capacitive Sensor Haptic Feedback Dexterous Hand Example of adaptive grasping. By collecting tactile signals from the fingers in real time, executing tactile perception algorithms (contact detection, stiffness recognition), and dynamically adjusting the gripping current, it achieves compliant grasping and adaptive control of objects with different stiffness.

System Structure and Function

Module file	Function Overview
main.py	The main system entry point is responsible for module initialization and asynchronous scheduling, and executes example grasping tasks.
data_reader.py	Collect Revo2 capacitive tactile sensor data in real time and maintain a fixed-length buffer.
tactile_processor.py	Perform algorithmic processing on the collected tactile data, including contact detection and stiffness recognition.
grasp_controller.py	Control the dexterous hand by dynamically adjusting the 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 and the duration of the action.

num_fingers Parameter Meaning

num_fingers Value	Grip type	Involved fingers	explanation
0	Release All	—	Spread all fingers, then return to the starting position
2	Pinched between two fingers	thumb + Index finger	Suitable for picking up small objects (such as foam blocks)
3	Pinch with three fingers	thumb + Index finger + middle finger	Stably grasp 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