XenseGloveSDK
xenseglovesdk provides a Python API for Xense tactile gloves. Connect over USB serial or Bluetooth Low Energy (BLE) to read pressure distributions across the fingers and palm, along with IMU data.Features
| Feature | Description |
|---|---|
| Device connections | Discover and connect USB serial or BLE gloves; query the serial number, hand, and firmware version |
| Pressure data | Read a 63 × 39 pressure matrix and access the thumb, index, middle, ring, little finger, and palm regions |
| Data analysis | Get valid point counts, ADC totals, maximum and mean values, and contact points that meet a threshold |
| Acquisition settings | Select the output mode, channel, and frame rate; tare the glove over USB |
| IMU data | Read acceleration and angular velocity on three axes |
Pressure readings are ADC values in the range 0–254. They describe contact locations and pressure changes, but do not directly represent force in newtons. IMU data provides acceleration and angular velocity; orientation angles require further calculation in your application.
Connection options
| Connection | Requirements | Python entry point |
|---|---|---|
| USB serial | Connect the glove to the computer with a USB data cable | XenseGlove.open(port) |
| BLE | A glove with BLE support and Bluetooth enabled on the computer | XenseGlove.open_ble(address) |
The glove sends data through one output channel at a time. After connecting, call set_channel("serial") or set_channel("ble") to select the channel that matches your connection.
Get started
- Prepare your Python environment and install the SDK using the Installation guide.
- Connect a glove and read your first frame in Quick Start.
- Learn about the matrix layout, contact points, and IMU units in the Data Guide.
- Look up parameters and return values in the API Reference, or troubleshoot connections and acquisition in the FAQ.