Interfaces and Data Reference

REST API

• Prefix: /api/v1
• Base URL: http://{host}:{port}/api/v1/...
• Content-Type: JSON (except upload endpoints)

Method	Path	Purpose	Example
GET	/streams	Authoritative WebSocket stream catalog (id, topic, type, direction)	curl -s http://127.0.0.1:8080/api/v1/streams
GET	/status	Runtime status: topology, hand model, side, subprocesses, ROS bridge, sync state	curl -s http://127.0.0.1:8080/api/v1/status
GET	/hands/configs	List valid hand models (scans configs/end_tools)	curl -s http://127.0.0.1:8080/api/v1/hands/configs
POST	/hands/select	Select hand model and start process chain (exo/transform/controller)	curl -s -X POST http://localhost:8080/api/v1/hands/select -H "Content-Type: application/json" -d '{"hands":["DexcelRobotics_Apex"]}'
POST	/hands/configs/upload	Upload hand config package to configs/end_tools/<hand>/	curl -s -X POST http://localhost:8080/api/v1/hands/configs/upload -F "files=@hand.zip" -F "overwrite=true"
POST	/runtime/frequency	Set exo publish rate 120 (default) / 100 Hz; writes yaml and restarts exo_tf	curl -s -X POST http://localhost:8080/api/v1/runtime/frequency -H "Content-Type: application/json" -d '{"hz":100}'
POST	/wifi/provision	Start sending provisioning info	curl -s -X POST http://localhost:8080/api/v1/wifi/provision -H "Content-Type: application/json" -d '{"ssid":"MyWiFi","password":"pwd","return_ip":"192.168.1.1"}'
POST	/exo/udp/start	Start UDP exoskeleton discovery	curl -s -X POST http://localhost:8080/api/v1/exo/udp/start
GET	/exo/udp/stop	Stop UDP discovery	curl -s -X POST http://localhost:8080/api/v1/exo/udp/stop

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WebSocket Data Streams

The current version throttles WebSocket to 30 Hz by default. For full-rate data, use ROS topics.

Send JSON control messages after connecting:

Subscribe to data streams:

{"op": "subscribe", "streams": ["io_esk.joint_data", "io_esk.tf"]}

When streams is omitted, the default streams from the configuration are auto-expanded based on the currently selected hand model.

Publish data (e.g. vibration feedback):

{"op": "publish", "stream": "io_esk.vibration_feedback", "data": {"data": [0,0,0,0,0,0,0,0,0,0]}}

Server push format:

{"stream": "io_esk.joint_data", "data": { ... }}

Stream Catalog

base_id	scope	ROS topic (template)	ROS type	Direction
io_esk.tf	global	/io_fusion/tf_exoskeleton	TFMessage	subscribe
io_esk.joint_data	global	/io_esk/joint_data	JointState	subscribe
io_esk.joystick_data	global	/io_esk/joystick_data	Joy	subscribe
io_align.tf.robotname	hand	/io_align/tf_hand	TFMessage	subscribe
io_align.poses_left.robotname	hand	/io_align/<hand_model>/poses_<new_parent_frame>	PoseArray	subscribe
io_align.poses_right.robotname	hand	/io_align/<hand_model>/poses_<new_parent_frame>	PoseArray	subscribe
io_teleop.joint_cmd_left.robotname	hand	/io_teleop/<hand_model>/joint_cmd_finger_left	JointState	subscribe
io_teleop.joint_cmd_right.robotname	hand	/io_teleop/<hand_model>/joint_cmd_finger_right	JointState	subscribe
io_esk.vibration_feedback	—	/io_esk/vibration_feedback	Float64MultiArray	publish

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ROS 2 Interface

To subscribe/publish data directly via ROS 2, use the following topics:

Input

• /io_esk/vibration_feedback

  • Topic: /io_esk/vibration_feedback
  • Type: std_msgs/Float64MultiArray
  • Response rate: 120Hz
  • Purpose: Vibration feedback at exoskeleton fingertips
  • Payload:

  // Float64MultiArray
  // ROS standard msg
  std_msgs/MultiArrayLayout layout
  float64[] data
  //    Vibration level: 1–10, 0 = off
  //    Force feedback index order: 0–4 right hand, 5–9 left hand
  //    Right hand: thumb -> pinky -> ring -> middle -> index
  //    Left hand: thumb -> index -> middle -> ring -> pinky

Output

• /io_esk/joint_data

  • Topic: /io_esk/joint_data
  • Type: sensor_msgs/JointState.msg
  • Output rate: 120Hz
  • Purpose: Exoskeleton glove joint encoder data

• /io_esk/joystick_data

  • Topic: /io_esk/joystick_data
  • Type: sensor_msgs/Joy.msg
  • Output rate: 120Hz
  • Purpose: Joystick data from finger control units
  • Payload:

  std_msgs/Header header
  float32[2] axes # right
  float32[2] axes # left
  int32[4] buttons # right
  int32[4] buttons # left

• /io_fusion/tf_exoskeleton

  • Topic: /io_fusion/tf_exoskeleton
  • Type: tf2_msgs/TFMessage.msg
  • Output rate: 120Hz
  • Purpose: Transform data for all exoskeleton links
  • Payload: Position and orientation of all exoskeleton links

  //TFMessage.msg
  geometry_msgs/TransformStamped[] transforms

  • Published transforms are relative to base_link:

    Tips (fingertips)

    Click to expand fingertip link list

    right_hand
    right_thumb_tip
    right_index_tip
    right_middle_tip
    right_ring_tip
    right_pinky_tip
    left_hand
    left_thumb_tip
    left_index_tip
    left_middle_tip
    left_ring_tip
    left_pinky_tip

    Exoskeleton links

    Click to expand exoskeleton link list

    link_RightSkeletonBase
    link_RightSkeletonThumbBase
    link_RightSkeletonThumb1
    link_RightSkeletonThumb2
    link_RightSkeletonThumb3
    link_RightSkeletonThumb4
    link_RightSkeletonIndex1
    link_RightSkeletonIndex2
    link_RightSkeletonIndex3
    link_RightSkeletonIndex4
    link_RightSkeletonMiddle1
    link_RightSkeletonMiddle2
    link_RightSkeletonMiddle3
    link_RightSkeletonMiddle4
    link_RightSkeletonRing1
    link_RightSkeletonRing2
    link_RightSkeletonRing3
    link_RightSkeletonRing4
    link_RightSkeletonPinky1
    link_RightSkeletonPinky2
    link_RightSkeletonPinky3
    link_RightSkeletonPinky4
    link_LeftSkeletonBase
    link_LeftSkeletonThumbBase
    link_LeftSkeletonThumb1
    link_LeftSkeletonThumb2
    link_LeftSkeletonThumb3
    link_LeftSkeletonThumb4
    link_LeftSkeletonIndex1
    link_LeftSkeletonIndex2
    link_LeftSkeletonIndex3
    link_LeftSkeletonIndex4
    link_LeftSkeletonMiddle1
    link_LeftSkeletonMiddle2
    link_LeftSkeletonMiddle3
    link_LeftSkeletonMiddle4
    link_LeftSkeletonRing1
    link_LeftSkeletonRing2
    link_LeftSkeletonRing3
    link_LeftSkeletonRing4
    link_LeftSkeletonPinky1
    link_LeftSkeletonPinky2
    link_LeftSkeletonPinky3
    link_LeftSkeletonPinky4

Reference URDF

blender_human_skeleton_v5.urdf — Click to download the URDF file