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RP Hand Bionic Dexterous Hand Control

isA natively supports RP Hand multi-fingered dexterous hands, offering 6 active degrees of freedom and 11 linked joint mechanics for delicate physical interaction.

1. Joint Kinematics

  • Thumb: Dual active degrees of freedom (abduction/adduction 0..10000, flexion 0..10000)
  • Index: Active flexion with dual-joint linkage
  • Middle: Active flexion with dual-joint linkage
  • Ring: Active flexion with dual-joint linkage
  • Pinky: Active flexion with dual-joint linkage

2. Adaptive Enveloping & Tactile Arrays

Micro piezoresistive tactile arrays are embedded in each fingertip. RAL samples tactile forces at 100Hz locally:

from isa_agent_sdk.embodied import RPHandDevice
 
hand = RPHandDevice.connect("can0")
 
# Grasp a fragile object (such as a raw egg) with sub-50g constant force
result = await hand.grasp_fragile(
    target_force_grams=50,
    max_travel_time_ms=1200,
    slip_detection=True
)
print("Verified completion receipt:", result.completion_verified)