Home; Ready; Grasp 3; Grasp 4 - SimLab Allegro Hand User Manual

A L L E G R O H A N D U S E R S M A N U A L

Home

Let's start by clicking the button entitled Home. The position assumed by the Allegro Hand is a
starting position that ensures that all joints are oriented properly for executing a grasp.

Ready

Click the button entitled Ready to prepare for each type of grasping motion.
Note: For the virtual hand, you will notice the finger joints sagging if left in ready mode too long. As the finger tip locations are
controlled, all joint angles do not necessarily matter. Due to the lack of friction found in the actual system, the ready position
does not remain constant. In this case, simply push Home then Ready again to prepare for a grasp.

Grasp 3

Click the buttons entitled Home then Ready to prepare the hand for a grasp.
Now click the button entitled GRASP3. This grasping algorithm is a torque-controlled, three-fingered
grip. This grasp can be used for pick-and-place style object grasping as the object is held between the
tips of the thumb, index and middle fingers.

Grasp 4

Click the buttons entitled Home then Ready to prepare the hand for another type of grasp.
Click the button entitled GRASP4. This grasping algorithm is a torque-controlled, four-fingered grip.
This grasp can be used for pick-and-place style object grasping as the object is held between the tips
of the thumb and three fingers.

Pinching (I)

Click the buttons entitled Home then Ready to prepare the hand for another type of grasp.
Click the button entitled Pinching (I). This grasping algorithm is a torque-controlled, two-fingered pinch.
This grasp can be used for pick-and-place style object grasping and more dexterous manipulation as
the object is held between the tips of the thumb and the index finger.

Pinching (M)

Click the buttons entitled Home then Ready to prepare the hand for another type of grasp.
Click the button entitled Pinching (M). This grasping algorithm is a torque-controlled, two-fingered
pinch. This grasp can be used for pick-and-place style object grasping and more dexterous
manipulation as the object is held between the tips of the thumb and the middle finger.

Envelop

Click the buttons entitled Home then Ready to prepare the hand for another type of grasp.
Click the button entitled Envelop. This grasping algorithm can be used to fully envelop an object within
the hand's four fingers. This algorithm can handle a variety of object geometries.

Test Encoders (actual hand only)

This button is only used when zeroing the hand joints. Pressing this button will print out the current
raw encoder data. (Only available in actual hand AHAS)

Test Motors (actual hand only)

This button is only when checking the positive direction of each motor. Pressing this button multiple
times will send a positive torque value to each motor in succession. (Only available in actual hand
AHAS)
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