低成本灵巧手与外骨骼手套联动，实现高保真远程操控
GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove
- 用23个独立电机全驱动，突破传统腱传动局限
- 11自由度手+12自由度手套，闭环控制精度显著提升
- 3D打印模块化设计，制造成本极低，适合普及研究
本文提出GEX，一种结合GX11三指仿人灵巧手（11自由度）与EX12三指外骨骼手套（12自由度）的低成本灵巧操作新系统。通过运动学重定向构建闭环遥操作系统，实现高保真控制。两个部件均采用模块化3D打印手指结构，在保持全驱动能力的同时大幅降低制造成本。区别于传统的腱驱动或欠驱动方式，该机电系统在全部23个自由度上均配置独立电机，确保状态可完全观测和精确运动建模。全驱动架构支持双向精准运动计算，显著提升外骨骼与机器人手之间的运动重定向保真度。该系统弥合了灵巧操作研究中的成本-性能鸿沟，为获取高质量示范数据提供可及平台，助力具身智能与灵巧技能迁移学习发展。
原文摘要 · Abstract (English)
This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation framework through kinematic retargeting for high-fidelity control. Both components employ modular 3D-printed finger designs, achieving ultra-low manufacturing costs while maintaining full actuation capabilities. Departing from conventional tendon-driven or underactuated approaches, our electromechanical system integrates independent joint motors across all 23 DoF, ensuring complete state observability and accurate kinematic modeling. This full-actuation architecture enables precise bidirectional kinematic calculations, substantially enhancing kinematic retargeting fidelity between the exoskeleton and robotic hand. The proposed system bridges the cost-performance gap in dexterous manipulation research, providing an accessible platform for acquiring high-quality demonstration data to advance embodied AI and dexterous robotic skill transfer learning.
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