Standard User Manual

1. Using the Gloves

1.1 G7 Gloves (Wired Version)

1.1.1 Power On and Connect

1. On the computer, double-click the Forsense HumanHand executable in the software root directory. If the software has not been installed, install it first and keep it running throughout all subsequent operations. Otherwise, glove data cannot be received.

2. Connect the left- and right-hand smart glove cables to the corresponding ports marked Right and Left on the Hub. Use a USB-to-Type-C data cable: connect the USB end to a USB port or USB hub on the computer, and connect the Type-C end to the Hub's USB-C port. Then connect the power cable to the Hub's PWR-IN port. Check the port labels carefully to avoid incorrect connections.

3. The software and gloves may be started in either order. You can power on the gloves before starting the software, or start the software before powering on the gloves. Note that Forsense HumanHand can discover the glove devices only after the gloves have powered on correctly.

1.1.2 Power On and Connect Data-Box Gloves

1. Connect the USB-to-Type-C cable to a USB port on the computer. A solid blue light for one hand or a solid green light for both hands indicates that the gloves have powered on successfully.

1.2 G7 Gloves (Wireless Version)

• Using the ForMotion Glove G7 Wireless Module 1.0
• Using the ForMotion Glove G7 Wireless Module 2.0

1.3 Using the G7 Adapter Module

G7 Glove TTL-to-USB-C Module Connection Guide

1.4 G7 Forearm Module User Guide

G7 Forearm Module User Guide

1.5 Using G7 + PICO

G7 + PICO Tutorial

1.6 Glove LED States

LED behavior	G7 glove status
Blue, slow flash	Starting and initializing
Solid blue	One glove is operating normally
Blue, fast flash	Firmware upgrade in progress
Solid red	Hardware fault (for example, IMU self-test failure)
Red, slow flash	Critical warning (for example, a disconnected finger)
Red, fast flash	General warning (for example, missing calibration parameters or calibration-parameter CRC failure)
Solid green	Magnetic avoidance is active, left/right synchronization is valid, and the gloves are operating normally

2. Using Forsense HumanHand

2.1 Host Software

ForMotion Glove G7 Software and Firmware Resources

2.2 Glove Operation

Procedure

1. As shown below, connect the Type-C cable to the Hub port on the back of the glove.

2. Select the single-hand or two-hand glove model, select the serial port, set the baud rate to 921600, enter any user name, click Register, and then click Start.

3. Changing data indicates a successful connection.

2.3 Motion Calibration

This section uses one pair of gloves as an example. The same procedure applies when using multiple pairs.

2.3.1 Motion Calibration

• Complete motion calibration before displaying or recording motion. Follow the illustrated prompts in the system interface to perform the required poses. After calibration succeeds, the hand model can be driven for motion display and recording.
• Calibration is supported after a single glove has been connected.
• Calibration results can be reused. After restarting the software, the user can decide whether recalibration is necessary.

2.3.1.1 Procedure

Perform motion calibration in the software as follows. During calibration, keep the palm facing down and avoid pointing the palm directly toward yourself. Move each pose as close to its limit as possible without applying excessive force. For example, close the fingers fully when making a fist, keep the fingers together when required, spread them as far as possible when opening the hand, and perform fingertip-to-fingertip calibration.

1. Put on the gloves correctly and ensure that both the receiver and the gloves are powered on and operating normally.
2. Connect at least one glove to the software. According to the connected glove, click Left- or Right-Hand Calibration, followed by Hand Pinch Calibration, to begin motion calibration.
3. Follow the illustrated on-screen instructions to complete seven calibration poses. Each pose lasts approximately three seconds. Watch the progress panel on the right and change to the next pose only after the panel advances, until all calibration poses are complete.
4. If calibration fails because of an unexpected interruption, repeat the steps above.
5. If a glove disconnects unexpectedly after calibration, reconnecting it does not require recalibration.
6. If a glove does not participate in calibration, its corresponding hand model will remain in the initial state and will not be driven after calibration.
7. Important posture guidance

2.3.1.2 Interface

1. Interface after the device has been connected and paired successfully:

2. After successful pairing, click Calibration to enter the first motion calibration:

3. Follow the illustrated prompts to calibrate:

4. Click Pinch Calibration to enter the second motion calibration:

5. Follow the illustrated prompts to perform pinch calibration:

6. Calibration exits automatically and succeeds after the poses above have been completed.

2.3.2 Motion Display

Use the hand model to display hand motion.

Ensure that the device is paired and connected correctly and that motion calibration has succeeded.

1. After motion calibration, the hand model in the software displays the user's hand motion in real time.
2. Hold the right mouse button and drag to rotate the hand model.

Interface

2.4 Motion Recording

Record and export the required motion.

Record motion in the software as follows:

1. Ensure that the device is paired and connected correctly and that motion calibration has succeeded.
2. Click the Record button on the recording toolbar, or use the keyboard shortcut, to start recording. The maximum recording duration is one hour; recording stops automatically when this limit is reached.
3. Click the Stop Recording button on the recording toolbar, or use the keyboard shortcut, to stop recording.

Interface

1. System recording interface:

2. Click the Record button on the recording toolbar:

3. After recording, review the motion that was just recorded:

Play motion:

Pause playback:

Previous frame:

Next frame:

Go to the first frame:

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2.5 Interface Configuration

On this page, you can enable the trackball, hand-model selection, lighting, AHRS pose following, trajectory display, pinch optimization, magnetic-only mode, and anti-magnetic enhancement. You can also view fingertip IMU data, coil position, coil pose, joint position, joint pose, and magnetic-interference status.

2.6 Settings, Help, and About

2.6.1 File Storage Path

Users can define the default location for exported files. View or set it as follows:

1. Click the gear-shaped button in the upper-right corner of the software interface to open Settings.
2. Click the folder-shaped button to the right of File Storage Path. In the folder selection dialog, choose the required folder using the operating system's path selector and click Select Folder.
3. The selected path appears in the File Storage Path field.
4. Repeat these steps whenever the storage path needs to be changed.

Interface

1. Click the gear-shaped button in the upper-right corner to open Settings:

2. Click the folder-selection button to open the storage-path dialog. Select the required path and click Select Folder to finish. Click Cancel if you do not want to save the setting:

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2.6.2 Recording Options

Record and export the required motion.

Record motion in the software as follows:

1. Ensure that the device is paired and connected correctly and that motion calibration has succeeded.
2. Set the file format, frame rate, and skeleton type.

Interface

1. Click the gear-shaped button in the upper-right corner to open Settings:

2. In the Settings window, select Recording Options to configure the following items:

2.6.3 Data Sending

Click the gear-shaped button in the upper-right corner of the software interface to open Settings, and then select Data Sending.

1. In the Settings window, select Data Sending to configure the following items:

2.6.4 Help

If you encounter a problem or have a question while using the software, use the Help function to find a solution.

Click the question-mark Help button in the upper-right corner of the software to open the Help page in a browser.

2.6.5 About

Click the i-shaped About button in the upper-right corner to view the software version, software agreement, and software updates.