DOGlove：基于低成本开源触觉力反馈手套的灵巧操作
DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove
AI总结：
针对当前遥操作系统设备昂贵、缺乏多模态反馈的问题，提出低成本开源触觉力反馈手套DOGlove，实现21自由度运动捕捉与多方向力反馈，提升复杂操作成功率，支持无视觉反馈任务并可用于训练模仿学习策略。
摘要：
灵巧手遥操作在使机器人实现人类级操作灵巧性方面发挥着关键作用。然而，当前遥操作系统通常依赖昂贵设备且缺乏多模态感官反馈，限制了人类操作者感知物体属性和执行复杂操作任务的能力。为解决这些局限性，我们提出DOGlove，一种用于遥操作和操作的低成本、高精度触觉力反馈手套系统。DOGlove可在数小时内组装完成，成本低于600美元。它具有用于21自由度运动捕捉的定制关节结构、用于5自由度多方向力反馈的紧凑型缆驱动扭矩传输机制，以及用于5自由度指尖触觉反馈的线性谐振致动器。利用动作和触觉力重定向，DOGlove实现了灵巧机器人手的精确且沉浸式遥操作，在复杂、接触丰富的任务中取得了高成功率。我们进一步在无视觉反馈的场景中评估DOGlove，证明了触觉力反馈在任务性能中的关键作用。此外，我们利用收集的演示来训练模仿学习策略，突出了DOGlove的潜力和有效性。DOGlove的硬件和软件系统将在https://do-glove.github.io/完全开源。
英文摘要：
Dexterous hand teleoperation plays a pivotal role in enabling robots to achieve human-level manipulation dexterity. However, current teleoperation systems often rely on expensive equipment and lack multi-modal sensory feedback, restricting human operators' ability to perceive object properties and perform complex manipulation tasks. To address these limitations, we present DOGlove, a low-cost, precise, and haptic force feedback glove system for teleoperation and manipulation. DoGlove can be assembled in hours at a cost under 600 USD. It features a customized joint structure for 21-DoF motion capture, a compact cable-driven torque transmission mechanism for 5-DoF multidirectional force feedback, and a linear resonate actuator for 5-DoF fingertip haptic feedback. Leveraging action and haptic force retargeting, DOGlove enables precise and immersive teleoperation of dexterous robotic hands, achieving high success rates in complex, contact-rich tasks. We further evaluate DOGlove in scenarios without visual feedback, demonstrating the critical role of haptic force feedback in task performance. In addition, we utilize the collected demonstrations to train imitation learning policies, highlighting the potential and effectiveness of DOGlove. DOGlove's hardware and software system will be fully open-sourced at https://do-glove.github.io/.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
