GEX：通过全驱动灵巧手与外骨骼手套实现民主化灵巧操作
GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove
- Huazhong University of Science and Technology（华中科技大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
GEX通过全驱动灵巧手与外骨骼手套结合，实现低成本高保真灵巧操作，推动具身AI和机器人技能迁移学习。
AI中文摘要：
本文介绍了GEX，一种创新的低成本灵巧操作系统，将GX11三指仿人手（11自由度）与EX12三指外骨骼手套（12自由度）结合，通过运动学重定向形成闭环遥操作框架以实现高保真控制。两者均采用模块化3D打印手指设计，实现超低成本制造同时保持全驱动能力。不同于传统腱驱动或欠驱动方法，我们的机电系统在全部23个自由度上集成独立关节电机，确保完整状态可观测性和准确的运动学建模。这种全驱动架构使双向精确运动学计算成为可能，显著提升外骨骼与机器人手之间的运动学重定向保真度。所提出系统弥合了灵巧操作研究中的成本-性能差距，提供了一个可获取高质量演示数据的平台，以推进具身AI和灵巧机器人技能迁移学习。
英文摘要：
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.
