We are planning to swap our the Stretch gripper for a prosthetic hand that communicates using UART. For our initial testing, we have been using a UART to USB adapter that connects to the hand with TX, RX, GND. After going through the hardware guide again, it seems we could configure the expansion header for Serial UART and do without the adapter. I have checked out the wrist extension header tutorials but am still a bit lost on where to start for a UART sensor.
Any advice pointing me in the right direction would be a big help.