实现灵巧操作的双向遥操作框架，支持手眼协调与触觉反馈。
A Bilateral Teleoperation Framework for Dexterous Manipulation
- 统一控制架构整合操作端输入与机器人手-臂系统
- 实现手部位置重映射与多尺度触觉反馈，提升操作稳定性
- 适用于灵巧操作研究，为示范学习提供高质量数据基础
灵巧遥操作需要精确的手臂-手部协同、低延迟反馈以及在真实接触密集环境中的鲁棒交互。本文提出一种模块化双向遥操作框架，将操作端输入设备与机器人端灵巧手及柔顺机械臂集成于统一控制架构中。系统支持基于位置的手部重映射、差分臂控、多尺度触觉反馈以及共享控制，以实现稳定操作。我们在真实世界灵巧操作任务中验证了该框架，凸显了手-臂协同与接触感知交互能力。除可行性外，还揭示了跨本体不匹配、触觉反馈粒度与共享控制的关键设计洞见。所提平台不仅提供了实用的遥操作系统，也为未来从示范学习研究收集高质量演示数据奠定了基础。
原文摘要 · Abstract (English)
Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments. This paper presents a modular bilateral teleoperation framework that integrates operator-side input interfaces with a robot-side dexterous hand and compliant robotic arm in a unified control architecture. The system supports position-based hand retargeting, differential arm control, multi-scale haptic feedback, and shared control for stable manipulation. We validate the framework through a real-world dexterous manipulation task, highlighting coordinated arm-hand control and contact-aware interaction. Beyond feasibility, we identify key design insights related to cross-embodiment mismatch, haptic feedback granularity, and shared control. The proposed platform provides a practical teleoperation system and a foundation for collecting high-quality demonstrations for future learning-from-demonstration research.
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