D’Manus interfacing library

raunaqbhirangi

Control and data-collection interfaces for the D’Manus hand with tactile sensing over the fingers and palm.

What you can explore

Explore the Gym-style interface, Dynamixel integration and tactile data-collection policies.

Before you use it

Requires the D’Manus hardware and the specified motor and ReSkin libraries. Calibration and sensing coverage are hardware-specific.

Original contributors

Raunaq Bhirangi, Abigail DeFranco, Jacob Adkins, Carmel Majidi, Abhinav Gupta, Tess Hellebrekers and Vikash Kumar

License / access: Code: MIT · check external data, models and hardware terms separately

Original code & documentation

Hardware and assembly

Research paper

Editorial reference · checked 2026-09-22