低成本外骨骼实现实时力矩反馈，用于学习全身柔顺控制策略。
Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback
- 外骨骼提供实时触觉力矩反馈，记录全身姿态与关节力矩数据。
- 在受限空间中完成高成功率的双臂操作、移动抓取等复杂任务。
- 支持多种机器人远程操控，适合需柔顺交互的家用场景研究。
为使机器人在家庭环境中安全作业，需具备柔顺性并能响应接触时的力与扭矩反馈。然而，现有多数数据采集流程仍无法获取力/扭矩数据以学习主动柔顺策略。本文提出通用操作外骨骼（UME），一种上肢外骨骼装置，在遥操作过程中提供实时触觉力矩反馈，同时记录全臂配置与关节扭矩信号。通过透明力矩反馈，操作者可在盲视下解构运动学受限物体。UME成本低、轻便且便携，配备嵌入式惯性测量单元（IMU），支持移动操作。结合提出的通用重映射算法，可遥操作7自由度OpenArm、7自由度Franka及6自由度X-ARM等多种机器人。实验表明，该系统支持学习双臂、全身及主动柔顺策略，在高度受限空间中表现良好，实现长时程移动操作、力控翻箱、视觉遮挡推箱、狭小桌面上操作等多项任务的高成功率。视频、代码与更多信息见 https://ume-exo.github.io。
原文摘要 · Abstract (English)
For robots to work safely in household environments, they need to be compliant and react to torque and force feedback during contact. However, the majority of existing data collection pipelines still lack the ability to capture force and torque data for learning active compliant policies. In this paper, we present Universal Manipulation Exoskeleton (UME), an upper-limb exoskeleton that provides real-time haptic torque feedback while recording whole-arm configurations and joint torque signals for teleoperation. With transparent torque feedback, human operators can even unsheathe kinematically constrained objects while blindfolded. UME is low-cost, lightweight, and portable. Equipped with an embedded IMU, it enables teleoperation for mobile manipulation. With our proposed universal retargeting algorithm, UME can teleoperate a range of robots, including the 7DoF OpenArm, 7DoF Franka, and 6DoF X-ARM. We demonstrate that this combination of capabilities enables learning bimanual, whole-body, and active compliant policies that operate effectively in highly constrained spaces. The learned robust autonomous policies achieve high success rates across a variety of tasks, including long-horizon mobile manipulation, force-mediated box flipping, visually occluded box pushing, and space-constrained tabletop manipulation. Videos, code, and additional information can be found at https://ume-exo.github.io.
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