Krysalis Hand is a five-finger robotic end-effector that combines a lightweight design, high payload capacity, and a high number of degrees of freedom (DoF) to enable dexterous manipulation in both industrial and research settings.
The Krysalis repository holds all the code necessary to operate the Krysalis Hand and conduct teleoperation using the MANUS Meta Glove. It is recommended to use a Linux machine to run this code.
You can learn more details of our robotic hand from our preprint paper.
The Hand-Codes repository contains all of the firmware for all of the Arduinos. The master runs on a Raspberry Pi Pico, while the MCP, PIP, DIP, Thumb, and Wrist modules run on Arduino Megas. The abduction motor is driven by a Robotis OpenRB-150, programmable via the Arduino IDE.
The MANUS SDK is used to pull real time fingertip data from the MANUS Glove to the ROS 2 Nodes which is then used to calculate the joint angles for teleoperation. For specific steps on downloading and running the SDK, check out the SDKClient_Linux Readme
This code is pulled from the LEAP Hand's Bidex Manus Teleop repository for teleoperating their hand using the MANUS Meta Gloves. It is similar to the MANUS C++ SDK but adds ZMQ bindings to communicate with the ROS 2 package.
The glove_ROS repository contains the ROS 2 package for teleoperating the Krysalis Hand. It uses ROS 2 messages to communicate with the Raspberry Pi Pico, and it uses Pybullet for calculating joint angles via inverse kinematics. We receive ROS 2 messages on the Raspberry Pi Pico through MicroROS. This allows the Pico to act as a ROS 2 node cabable of recieving ROS 2 messages. You are able to find the MicroROS code here.
This code is also pulled from the LEAP Hand's ROS 2 Library for teleoperating their hand from using the MANUS Meta Gloves. We repurposed the code to fit the dimensions of the Krysalis Hand.