低成本便携式机械手操作接口,支持力反馈与免校准部署。
DEX-Mouse: A Low-cost Portable and Universal Interface with Force Feedback for Data Collection of Dexterous Robotic Hands

- 用现成零件搭建便携式操作装置,无需校准即可跨平台使用。
- 佩戴式配置下任务完成率达86.67%,且操作负荷更低。
- 开源软硬件,适合机器人数据采集与远程操控研究者使用。
基于数据的灵巧手操作需要大规模、物理一致的示范数据。仿真和视频方法存在模拟到现实的差距及重定向问题,而基于动作捕捉手套的遥操作系统需为每位操作者校准,且机械手通常固定在固定臂上,缺乏便携性。便携替代方案虽提升了移动性,但难以实现跨平台与跨操作者兼容。本文提出DEX-Mouse,一种由商用部件构建的便携式、免校准手持遥操作接口,集成本体感知力反馈,成本低于150美元。其操作者无关设计无需校准或结构修改,可即刻部署于多种环境与平台。该接口支持将目标机械手直接安装在操作者前臂上,生成机器人对齐的数据。在多项灵巧操作任务的用户对比实验中,使用该系统的操作者任务完成率达86.67%。此外,相较于空间分离的遥操作设置,佩戴式配置显著降低了操作者的感知工作负荷。完整的软硬件栈(含物料清单、CAD模型、固件)已开源,地址为https://dex-mouse.github.io/,以促进复现与应用。
原文摘要 · Abstract (English)
Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while MoCap glove-based teleoperation systems require per-operator calibration and lack portability, as the robot hand is typically fixed to a stationary arm. Portable alternatives improve mobility but lack cross-platform and cross-operator compatibility. We present DEX-Mouse, a portable, calibration-free hand-held teleoperation interface with integrated kinesthetic force feedback, built from commercial off-the-shelf components under USD 150. The operator-agnostic design requires no calibration or structural modification, enabling immediate deployment across diverse environments and platforms. The interface supports a configuration in which the target robot hand is mounted directly on the forearm of an operator, producing robot-aligned data. In a comparative user study across various dexterous manipulation tasks, operators using the proposed system achieved an 86.67% task completion rate under the attached configuration. Also, we found that the attached configuration reduced the perceived workload of the operators compared to spatially separated teleoperation setups across all compared interfaces. The complete hardware and software stack, including bill of materials, CAD models, and firmware, is open-sourced at https://dex-mouse.github.io/ to facilitate replication and adoption.
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