2.1.7 (2026-08-28)

Overview

IO Gesture (IO Gateway) is a teleoperation platform for exoskeleton gloves and dexterous hands. The web console covers device connection, hand-model apply, calibration, and WiFi provisioning. Customer PCs do not need ROS; the delivery package includes its own runtime.

Install and launch

• Ubuntu 22.04 / 24.04 (amd64 / arm64).
• One-click desktop shortcut and serial-port permissions. Double-click or run ./scripts/run_gateway.sh; the console opens at http://127.0.0.1:8080/ by default.
• Headless mode is available (--headless).

Wired connection

• After USB plug-in, the console auto-scans and shows Connected; no manual connect click.
• Wired takes priority over wireless. Left/right side is detected automatically.

Wireless provisioning and connection

• The PC and the module must be on the same WiFi subnet to receive data.
• In the console, enter SSID, password, and callback IP (router address), then provision in one click. Networks can be saved.

Dexterous-hand models

• Select a model and click Apply. Auto-apply on startup is supported.
• Model packs can be uploaded (zip / tar / tar.gz). An applied model must be cleared before it can be deleted.

Calibration

• Calibrate from the web console or the terminal guide. The gateway must be running and the exoskeleton connected.
• Follow the poses, wait for the countdown capture, then save and apply immediately.

Live preview and status

• The console shows connection status, charts, and a 3D preview.
• Logs are stored by date under logs/YYYY-MM-DD/.

Firmware update

• Flash the wireless module over USB. Use app mode for daily updates (keeps WiFi config); full mode erases provisioning.
• Stop the gateway before flashing.

Conversion tools (optional)

• Forward gateway data to ROS 2: Zenoh → ROS (zenoh2ros_bridge.py) or WebSocket → ROS (ws2ros_bridge.py). Use one or the other, not both.
• ROS must be installed by the customer and the gateway must be running. Topics include exoskeleton joints, IMU, TF, hand commands, and vibration feedback.

Runtime

Notes

• After being added to dialout for the first time, log out and back in before plugging the device.
• Use the router address as the provisioning callback IP, not the PC address.
• Do not unplug cables during teleoperation.
• For support, provide logs from logs/YYYY-MM-DD/ for that day.