Hacking the Dexmo VR Gloves

BSc assignment

For our telerobotics research, we acquired a set of Dexmo VR Gloves some years ago (https://www.dextarobotics.com/).

Working with the devices always was a bit difficult due to the current interface that only supports connecting to unity and a wavering bluetooth connection (no wired connection available). Now, the devies are an old model that is no longer supported and the betteries are also failing.

We would like to continue using the devices in our research and therefore want to hack them:

- Remove the batteries

- Provide a wired connection that provides both power and communications

- Provide a software interface to ROS2 through which a) The current/torque of the actuators can be controlled and b) the position of the actuators can be read-out