The Seed Robotics SR-RH4D (formerly the SR-DH4D) Hand is an under actuated, advanced Robotic Hand, offering 11DoF total with 4 actuated DoF (using 4 smart actuators).

The unit is capable of receiving commands simultaneously from multiple interfaces: main connector (RS485 or TTL), USB and optionally Bluetooth.

As of March 1st 2017, all RH4D units are built on the scalable Eros Architecture (used in all other Seed Robotics products).
Information about the transition is available in the document EROS vs ARES architecture: What's new and What's changed. In the interest of organization, we have moved the documentation related to models manufactured before that that (the old Architecture (ARES)) to a separate, legacy section.

• Unpacking and Mechanical Assembly
• Connection Diagrams and Connector Pinouts

• Dynamixel Protocol: Default IDs and Communication Settings
• Add support for RH4D in Robotis/Roboplus Dynamixel Wizard

• RH4D Control Tables
• Controlling the unit using the Dynamixel Protocol (main connector interface)
• Control using the Seed Robotics Simple Text Protocol (STP) and Online Diagnostics and Maintenance (USB or Bluetooth interface)

EROS units expose a Serial Console through which you can perform a number of queries, obtain real time diagnostics and also control the unit.

By default the firmware exposes the Serial Console on the USB Virtual Serial Port and on the Bluetooth interface (if optionally installed).
Use of the Console can be done simultaneously while controlling your unit through the main connector and while connected to your robot. This enables real time diagnostics and online application of corrective measures.

• Complete List of Console Commands (to be used in the USB or Bluetooth console)

• 1023 (10bit) vs 4095 (12bit) position resolution

• Operation with the Darwin-OP Framework
• Operation with ROS, PyPot and other Frameworks
• Current sensing and Force estimation: how it works and how to take advantage of it

• Connector Pinouts and Part numbers

• RH4D 3D Files download

Legal notice: Seed Robotics makes the 3D CAD files available to its customers only (entities who have purchased or ordered Seed Robotics products), for the sole purposes of building simulations and assessing dimensions and mechanical characteristics.
Seed Robotics retains all Copyrights and Intellectual property rights pertaining to the material hereby being distributed and does not make any warranty as to its accuracy or fitness for purpose. The publishing of this material, does not constitute a waiver of any of Seed Robotics copyrights and intellectual property rights and does not grant the user any distribution, transfer, ownership or any other rights other than ones explicitly authorized in this notice.

• Software troubleshooting
• Hardware troubleshooting
• Dynamics Troubleshooting: You've assembled the Hand on your Robot and there was a change in its Dynamics

• EROS units: Upgrading the main board Firmware
• EROS units only: Upgrading the Actuators' firmware

• Maintaining your Unit in top working condition

• Technical Specifications [ Placeholder ]
• Warranty and Support [ Placeholder ]

Please note: [ Placeholder ] sections are either Beta or currently in the process of migration from paper form to our Knowledge Base. If you require any of this information while we build the Knowledge Base, please contact our technical support by email.