Trial Quick Start Guide

1. Using the Gloves

1.1 Power On and Connect

1. On the computer, double-click the Forsense HumanHand executable in the software root directory. If the software is not installed, install it first. Keep HumanHand running during all later steps; otherwise the PC cannot receive glove data.

2. Plug the left and right glove cables into the Hub ports labeled Right and Left. Use a USB-to-Type-C data cable: insert the USB end into a computer USB port or USB dock, and the Type-C end into the Hub USB-C port. Then connect power to the Hub PWR-IN port. Check the port labels to avoid swapping connections.

3. The software and gloves may be started in either order. HumanHand can discover the gloves only after they have powered on correctly.

1.2 Power On and Connect a Data-Box Glove

1. Plug the USB-to-Type-C cable into a computer USB port. Solid blue (one hand) or solid green (both hands) means the glove has powered on successfully.

Data-box glove connection

1.3 Glove LED States

G7 LED states

LED behavior	G7 glove status
Blue, slow flash	Starting / 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	Warning (for example missing calibration parameters, or calibration CRC failure)
Solid green	Left/right synchronization is valid and both gloves are operating normally

2. Using Forsense HumanHand

2.1 Host Software

ForMotion Glove G7 software and firmware packages

2.2 Glove Operation

Procedure

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

Figure 1 Hub port on the back of the glove

2. Select single-hand or two-hand glove type, choose the serial port, set the baud rate to 912600, enter any user name, click Register, then click Start.

Figure 2 Hand type, serial port, and baud rate

3. Changing data indicates a successful connection.

Figure 3 Data changing after a successful connection

2.3 Motion Calibration

This section uses one pair of gloves as the example. The procedure is the same for multiple pairs.

2.3.1 Motion Calibration

• Complete motion calibration before displaying or recording motion. Follow the on-screen pose prompts. After a successful calibration, the hand model can be driven and motion can be recorded.

• Calibration can be performed after a single glove is connected.

• Calibration results can be reused. After restarting the software, the user can choose whether to calibrate again.

2.3.1.1 Procedure

Calibration demo

Calibrate in HumanHand as follows (during calibration, keep the palm facing down and do not point the palm toward yourself. Reach the limit of each pose without forcing it. For example, close the fist as fully as possible; keep the fingers together when they should be together; spread them to the maximum when opening the hand.):

1. Put the glove on correctly, and confirm that the receiver and glove are both powered on.

2. Connect at least one glove. Then click Left or Right Hand Calibration, followed by Hand Pinch Calibration, according to the connected gloves.

3. Follow the on-screen illustrations to complete 7 calibration poses. Each pose lasts about 3 seconds. Watch the progress view on the right, and change pose only after that view advances to the next action.

4. If calibration fails because of an interruption, repeat the steps above.

5. After calibration succeeds, an unexpected disconnect does not require recalibration after reconnecting.

6. If a glove does not take part in calibration, its model stays in the initial undriven state after calibration.

2.3.1.2 Interface

1. Interface after a successful connection:

Figure 4 Interface after a successful connection

2. After a successful connection, click Calibration to start the first motion calibration:

Figure 5 Enter the first motion calibration

3. Follow the illustrated prompts to calibrate:

Palm flat and still

Fist still

Repeated fist

Thumb extension

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

Figure 6 Enter the second motion calibration

5. Follow the illustrated prompts for pinch calibration:

Index pinch

Middle pinch

Ring pinch

Little-finger pinch

6. After these poses, calibration exits automatically and succeeds.

2.3.2 Motion Display

Drive the hand model to display hand motion.

Confirm that the device is connected and motion calibration has succeeded.

1. After calibration, the hand model in the software follows the user’s hand motion.

2. Right-drag in the viewport to rotate the hand model.

Interface

1. Hand-model motion display:

Point-line hand

Model hand

2.4 Recording Motion

Record and export the desired motion.

Record in the software as follows:

1. Confirm that the device is connected and motion calibration has succeeded.

2. Click Record on the recording toolbar, or use the shortcut, to start recording. The maximum recording length is 1 hour; recording stops automatically after that.

3. Click Stop on the recording toolbar, or use the shortcut, to end recording.

Interface

1. Recording interface:

Figure 7 Recording interface

2. Click Record on the recording toolbar:

Record button

3. After recording ends, inspect the captured motion:

Figure 8 Review recorded motion

Play:

Play

Pause:

Pause

Previous frame:

Previous frame

Next frame:

Next frame

Go to the first frame:

Go to the first frame

2.5 Interface Configuration

Figure 9 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, and 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

You can set the default export folder. View or change it as follows:

1. Click the gear icon in the upper-right corner to open Settings.

2. To the right of File Storage Path, click the folder icon. In the folder picker, select the destination folder and click Select Folder.

3. The selected path appears in the File Storage Path field.

4. Repeat these steps to change the path later.

Interface

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

Settings button

Figure 10 File storage path

2. Click the folder selector, choose the path, then click Select Folder. Click Cancel if you do not want to save the change:

Figure 11 Select storage folder

2.6.2 Recording Options

Record and export the desired motion.

Record in the software as follows:

1. Confirm that the device is connected and motion calibration has succeeded.

2. Set the file format, frame rate, and skeleton type.

Interface

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

Settings button

2. In Settings, open Recording Options to configure the following:

Figure 12 Recording options

2.6.3 Data Sending

Click the gear icon in the upper-right corner to open Settings, then select Data Sending.

Settings button

1. In Settings, open Data Sending to set destination IP, port, and output format:

Figure 13 Data-sending settings

Figure 14 Data-sending parameters

Set destination IP, port, and output format under Data Sending. Joint poses use FSNH version 4 (wrist-relative 612 bytes / 21 joints, forearm-relative 640 bytes / 22 joints; two hands share one port, one packet each); see UDP Reception – Joint Poses. Coil poses use FNIM version 2 (240 bytes); see UDP Reception – EMF Poses.

2.6.4 Help

If you have trouble using the software, use Help to find a solution.

Look up help as follows:

Interface

Click the question-mark icon in the upper-right corner to open the help page in a browser.

Help button

2.6.5 About

Click the i icon in the upper-right corner to view the software version, license agreement, and software updates.

About button