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FAQ AND TROUBLESHOOTING
RELEASE 1.0.1 — 15 JULY, 2020
8.3 The hand does not reopen correctly
8.3.1 Problem
The hand does
not fully
open up after setting the 0% position command: i.e. some of the fingers still
remain a bit closed even if the motor position is correctly commanded to 0. Some of the fingers may move
a bit slower than expected. Moreover, closure and reopening cycles present the same unexpected
behavior at each open.
8.3.2 Solution
The thumb phalanges are not properly placed: indeed it can happen that they don't always go back to the
original position (this highly depends on how fingers envelop the object and how much each phalanx
dislocate from its original place).
As you can see in the video I attached below, you can try to manually adjust the thumb configuration by
pulling or stretching each phalanx.
If you make sure that thumb phalanges are aligned, you should have no more troubles.
If the thumb seems ok, just try to do the same to all the other fingers: pull and twist a bit each distal
phalanx until it seems to be in the proper place (set the hand reference to 0%, i.e. fully open, when you do
such maintenance).
Please, let us know whether this solve the problem or you need further assistance.
WARNING:
Be aware that this behavior can lead to hardware malfunctions if it is not solved quickly.
If it happens too often, try to grasp the objects more gently (e.g. smaller closure values) or use
another approach strategy which produce a more natural grasp.
USER-FRIENDLY:
This problem can be easily solved by the user in a couple of minutes!
NOTE:
It is a good practice to perform these manual adjustments
once in a while to ensure that the
hand works at its best.
