Overview
This page serves as your guide to the documentation: you'll find an overview of how everything is organized, recommended reading paths for newcomers, and direct links to every section you might need.
Reading flow#
If you're starting out, read the sections in this order. Each step links to a section overview, so this doubles as a guided tour.
- Getting started — reference the SDK, connect a device, and reach your first subsystem.
- Main concepts — the mental model: what each subsystem senses or actuates, and the vocabulary the rest of the reference assumes.
- Examples — complete, runnable programs. The fastest way to feel the API on real hardware.
- API · Core then API · Subsystems — the interface-by-interface reference, for when you know what you want to build.
Already have a device connected? The Getting started page ends with a deeper reading flow tailored to running real code.
The full map#
1 · Introduction#
Set up and get oriented.
| Page | What's there |
|---|---|
| Overview (this page) | How the docs are organized and where to start. |
| Getting started | Requirements, creating a TsRoot instance, connecting a device, and accessing a subsystem. |
2 · Main concepts#
What the hardware does — the ideas the API assumes.
| Page | What's there |
|---|---|
| Overview | A map of the XR5 subsystems with a per-topic reading list. |
| Haptics & EMS | Programmable electrical stimulation, from light touch through to muscle contractions driven by electrical muscle stimulation (EMS) and functional electrical stimulation (FES). |
| Mocap | Full-body motion capture from the suit's inertial measurement units (IMUs): skeleton, raw IMU, and biomechanical angles. |
| PPG | Optical photoplethysmography (PPG) heart-rate sensing, with raw pulse signals. |
| Body & channel map | An interactive tool showing how the suit addresses channels by anatomical bone. It is Python-first, but the C# API follows the same layout mapping. |
3 · API · Core#
The layer above subsystems — library lifecycle, device management, bone-channel mapping, and shared types.
| Page | What's there |
|---|---|
| TsRoot & subsystems | The TsRoot entry point and the base subsystem interface. |
| Devices | Device discovery through the suit, glove, and device managers. |
| Mapping | Resolve anatomical bones to physical electric channels. |
| Assets | Load and manage haptic assets and playables. |
| Common types | The structs and enums shared across every module. |
4 · API · Subsystems#
One interface per device capability.
| Page | What's there |
|---|---|
| Haptic | IHapticPlayer — create, play, and control touches and playables. |
| Mocap | IMocap — skeleton, raw IMU, and biomechanical data. |
| Biometry | IPpg — PPG heart rate biometrics. |
| Force feedback | IForceFeedback — per-finger resistance on the glove. |
5 · Examples#
Complete, runnable C# programs grouped by subsystem.
| Page | What's there |
|---|---|
| Overview | Every runnable example, grouped by subsystem. |
| Play a haptic touch | Play your first touch on the suit. |
| Read heart rate | Read live heart rate from a PPG node. |
| Stream motion data | Stream skeleton data and biomechanical angles. |
Next: head to Getting started to reference the SDK, connect a device, and play your first touch.