nibotics-hand 0.1.0

Python API/SDK for Nibotics NI-PRVS01 Dexterous Hand

Nibotics NI-PRVS01 Python SDK

Python API/SDK for the Nibotics NI-PRVS01 — a 7-DOF dexterous robotic hand with 24-channel pressure sensing, 14-channel microphone array, and IMU.

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Hardware Overview

Feature	Specification
DOF	7 actuated (11 joints)
Fingers	5 (Pinky, Ring, Middle, Index, Thumb)
Pressure sensors	24 channels
Temperature sensors	24 channels
Microphones	14 channels (mic1: 8ch, mic2: 6ch)
IMU	3-axis accelerometer + gyroscope
Interface	USB Serial (115200 baud)
Firmware	Auto-detected (19 or 24 channel)

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Installation

pip install nibotics-hand

Or install from source:

git clone https://github.com/nibotics/nibotics-hand-python.git
cd nibotics-hand-python
pip install -e .

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Quick Start

from nibotics import NI_PRVS01

# Connect to hand
# Windows: use COM port  e.g. COM3, COM6, COM7
# Linux:   use /dev/ttyACM* e.g. /dev/ttyACM0, /dev/ttyACM1
hand = NI_PRVS01('COM6')        # Windows
hand = NI_PRVS01('/dev/ttyACM0') # Linux
hand.connect()

# Move a single finger
hand.move('pinky', position=4095, speed=100)

# Move all fingers
hand.move_all(
    positions=[4095, 4095, 4095, 4095, 2000, 2000, 2000],
    speeds=[100] * 7
)

# Read sensors
data = hand.read_sensors()
print(data.pressure)      # dict per finger
print(data.temperature)   # dict per finger
print(data.imu.accel)     # {'x': ..., 'y': ..., 'z': ...}

# Disconnect
hand.disconnect()

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Gestures

hand.open()          # all fingers open (position=0)
hand.close_all()     # all fingers closed (position=4095)
hand.fist()          # full fist
hand.pinch()         # pinch grasp
hand.point()         # index finger extended
hand.thumbs_up()     # thumb extended, fingers closed

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Motor Control

The hand has 7 motors:

Index	Motor	Range
0	Pinky	0 – 4095
1	Ring	0 – 4095
2	Middle	0 – 4095
3	Index	0 – 4095
4	Thumb radial extension	0 – 4095
5	Thumb flexion	0 – 4095
6	Thumb grasp	0 – 4095

Speed range: 0 – 250

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Sensor Data

data = hand.read_sensors()

# Pressure (hPa) per finger
data.pressure['pinky']   # list of sensor values
data.pressure['ring']
data.pressure['middle']
data.pressure['index']
data.pressure['thumb_radial_extension']

# Temperature (°C) per finger
data.temperature['pinky']

# Motor feedback
data.positions  # list of 7 current positions
data.speeds     # list of 7 current speeds

# IMU
data.imu.accel  # {'x': ..., 'y': ..., 'z': ...}
data.imu.gyro   # {'x': ..., 'y': ..., 'z': ...}

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Sensor Callbacks

def on_data(sensor_data):
    print(sensor_data.pressure)

hand.on_sensor_update = on_data
hand.connect()

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Context Manager

with NI_PRVS01('/dev/ttyACM0') as hand:
    hand.fist()
    hand.open()

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Repository Structure

nibotics-hand-python/
├── nibotics/
│   ├── __init__.py        # Public API
│   ├── hand.py            # NI_PRVS01 main class
│   ├── protocol.py        # Binary serial protocol parser
│   ├── definitions.py     # Protocol constants & PAGE_MAP
│   └── sensor_data.py     # SensorData / IMUData dataclasses
├── tests/
│   ├── unit/              # Unit tests
│   └── integration/       # Hardware integration tests
├── examples/              # Usage examples
├── pyproject.toml
└── setup.py

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Requirements

• Python ≥ 3.8
• pyserial ≥ 3.5

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License

BSD-3-Clause © Nibotics GmbH

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Contact

Rohith Anju Nath Vadigineni- [e-mail]

• Website: nibotics.com
• Email: [e-mail]
• Repository: github.com/nibotics/nibotics-hand-python