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AmazingHand - Product Introduction

AmazingHand Dexterous Robotic Hand - Open-source Robotic Manipulation Platform Tutorial
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AmazingHand is an advanced open-source dexterous robotic hand platform designed for robotics research, education, and development. It supports real-time hand tracking, simulation environment, and real hardware control, providing a complete solution for robotic manipulation research.

Key Features

  • Real-time Hand Tracking: Track hand movements via webcam and control the robotic hand in real-time
  • Simulation Environment: Run hand tracking demos in simulation without physical hardware
  • Real Hardware Control: Support single hand (left/right) and dual hands control
  • Finger Angle Control: Directly control individual finger angles for precise manipulation
  • Cross-platform Support: Compatible with Windows, Linux, and virtual machine environments

Quick Start

1. Environment Setup

Install the required dependencies:

Clone the source code:

git clone https://github.com/pollen-robotics/AmazingHand.git

2. Wiring

The power supply requires at least 5V3A, connect it to the servo driver board, then connect the driver board to your computer via USB.

3. Check Port Number

  • Windows: COM port (usually COM11, check in Device Manager)
  • Linux: /dev/ttyACM0

Verify port permissions on Linux:

ls /dev/ttyUSB* /dev/ttyACM*
sudo chmod 666 /dev/ttyACM*
sudo usermod -aG dialout $USER

4. Modify Port Configuration

  1. Edit AmazingHand-main/Demo/AHControl/src/main.rs to match your port
  2. Edit the corresponding yml file in the Demo directory:
    • Right hand: dataflow_tracking_real_right.yml
    • Left hand: dataflow_tracking_real_left.yml
    • Dual hands: dataflow_tracking_real_2hands.yml

5. Run the Demo

Start Daemon

dora up

Activate Virtual Environment

Windows:

Set-ExecutionPolicy -ExecutionPolicy Bypass -Scope Process
.venv\Scripts\activate

Linux:

source .venv/bin/activate

Simulation Environment

dora build dataflow_tracking_simu.yml --uv   # Run only once
dora run dataflow_tracking_simu.yml --uv

Real Hardware - Right Hand

dora build dataflow_tracking_real_right.yml --uv   # Run only once
dora run dataflow_tracking_real_right.yml --uv

Real Hardware - Left Hand

dora build dataflow_tracking_real_left.yml --uv   # Run only once
dora run dataflow_tracking_real_left.yml --uv

Real Hardware - Dual Hands

dora build dataflow_tracking_real_2hands.yml --uv   # Run only once
dora run dataflow_tracking_real_2hands.yml --uv

Simulated Finger Angle Control

dora build dataflow_angle_simu.yml --uv   # Run only once
dora run dataflow_angle_simu.yml --uv

Project Structure

  • AHControl: dora-rs node for motor control and configuration utilities
  • AHSimulation: dora-rs node for hand motion simulation and inverse kinematics
  • HandTracking: dora-rs node for webcam hand tracking and control target generation

Resources