Ahas; Quitting - 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

AHAS

With the hand powered on and the CAN connected, it is finally time to run Allegro Hand Application
Studio.
A virtual Allegro Hand, left or right, can be loaded by clicking New in the File drop-down menu (File >
New) or by quitting and reopening Allegro Hand Application Studio.
Again, you will presented with the AHAS hand selection window. This time we will select the Actual
Left Hand System (or a right hand if that's what you have) and click Next to select the type of CAN
interface you are using. Click Finish to start AHAS.
Note: If you have a right hand, proceed accordingly.
While the CAN communication is established at start-up, the motors must be turned on using the On
button before commands can be sent and encoder values received.
Note: You should always straighten out all of the fingers before running Allegro Hand Application
Studio or any other hand control application (think High-Five). This habit poses the fingers as far away
as possible from any collision that could occur in the event of unexpected motion. This pose also
increases the reliability of the encoders in finding the hand's initial position.
Once the On button is pressed, the AHAS hand model is updated to reflect the actual Allegro Hand.
Move the fingers around a bit manually to make sure the communication is, in fact, established.
For the actual hand, the same grasping algorithms can be executed via the GUI interface. You can
use the hand to manipulate reasonably sized objects of many shapes. The virtual hand will continue
to reflect any motion the actual hand makes.

Quitting

You can quit Allegro Hand Application Studio in two ways. First, you can quit by clicking Exit in
the File drop-down menu (File > Exit). You can also quit by click the X button to the right of the AHAS
window's title bar.
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