Dexterous Hand Dashboard Project Documentation

Dexterous hand-operated dashboard for LinkerHand 👋!

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Project Overview

Dexterous Hand Dashboard is a control dashboard service specifically developed for the LinkerHand dexterous hand device. Built with Golang, it provides a flexible RESTful API interface, enabling finger and palm pose control, execution of preset gestures, real-time sensor data monitoring, and dynamic configuration of hand type (left or right) and CAN interfaces.

Features

• Dynamic Hand Configuration: Supports dynamic switching between left and right hand types.
• Flexible Interface Configuration: Supports various CAN interfaces (such as can0, can1) configurable through command-line arguments or environment variables.
• Finger and Palm Pose Control: Sends finger (6-byte) and palm (4-byte) pose data.
• Preset Gesture Execution: Includes numerous predefined gestures such as fist, open hand, pinch, thumbs-up, and numeric gestures.
• Real-time Animation Control: Supports dynamic initiation and termination of animations like wave and horizontal sway.
• Real-time Sensor Data Monitoring: Provides real-time simulation and updating of pressure data.
• Health Check and Service Monitoring: Monitors CAN service status and interface activity in real time.

API Endpoints

Hand Type Configuration

• POST /api/hand-type

Configure the hand type for a specified interface.

Finger Pose

• POST /api/fingers

Send finger pose data.

Palm Pose

• POST /api/palm

Send palm pose data.

Preset Gestures

• POST /api/preset/{pose}

Execute predefined gestures.

Animation Control

• POST /api/animation

Start or stop animations.

Sensor Data

• GET /api/sensors

Retrieve real-time sensor data for a specified interface or all interfaces.

System Status

• GET /api/status

Query the overall system status, CAN service status, and interface configuration.

Available Interfaces

• GET /api/interfaces

List currently available CAN interfaces.

Hand Configuration Query

• GET /api/hand-configs

Query the hand configuration for all interfaces.

Health Check

• GET /api/health

System health check endpoint.

Configuration Options

Configuration via command-line arguments or environment variables:

• CAN_SERVICE_URL or -can-url: URL for the CAN service.
• WEB_PORT or -port: Web service port.
• DEFAULT_INTERFACE or -interface: Default CAN interface.
• CAN_INTERFACES or -can-interfaces: List of available CAN interfaces.

Usage Examples

./control-service -can-interfaces can0,can1,vcan0
CAN_INTERFACES=can0,can1 ./control-service

System Requirements

• Golang environment (1.20+)
• CAN communication service

Starting the Service

Launch the control service:

go run main.go -can-url http://localhost:5260 -port 9099

Logging and Monitoring

Detailed logs include interface status, gesture execution, and error messages for quick troubleshooting and diagnostics.

Contribution Guidelines

Community developers are welcome to contribute code, report bugs, or suggest features.

License

This project is open-sourced under the GPL-3.0 license.