DITTO：用于透明远程操作的灵巧接口
DITTO: Dexterous Interface for Transparent TeleOperation
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中文总结 AI 辅助
DITTO通过解剖学协同设计的7自由度机器人手与电动外骨骼，实现手持数据收集与带关节力反馈的双边远程操作统一，解决高自由度操作数据收集的权衡问题。
中文摘要 AI 辅助
为高自由度手部操作收集数据具有挑战性，因为接口必须捕捉丰富的手部运动，同时渲染精确操作所必需的接触交互。现有的数据收集方法面临权衡：远程操作确保了部署一致性，但缺乏力反馈，而手持式（野外）系统提供了自然的力透明度，但在部署时引入了视觉具身差距。我们提出了DITTO，一种用于透明远程操作的灵巧接口，通过解剖学信息引导的协同设计，将灵巧的7自由度机器人手与运动学等效的电动外骨骼相结合，解决了这一问题。外骨骼与机器人手之间的1对1执行器映射，使得手持式（野外）数据收集和具有关节级力反馈的双边远程操作能够在单一平台上统一实现。我们证明了DITTO外骨骼覆盖了操作者自然的食指到拇指工作空间，并通过在接触密集型任务上的学习策略展示了DITTO的灵巧能力。
英文摘要
Collecting data for manipulation with high-DOF hands is challenging, as interfaces must capture rich hand motion while rendering the contact interactions essential for precise manipulation. Existing data collection approaches face a trade-off: teleoperation ensures deployment consistency but lacks force feedback, while handheld (in-the-wild) systems provide natural force transparency but introduce a visual embodiment gap at deployment. We present DITTO, a Dexterous Interface for Transparent TeleOperation, which resolves this through the anatomically informed co-design of a dexterous 7-DOF robotic hand and a kinematically equivalent motorized exoskeleton. A 1-to-1 actuator mapping between the exoskeleton and robotic hand enables handheld (in-the-wild) data collection and bilateral teleoperation with joint-level force feedback unified in a single platform. We demonstrate that the DITTO exoskeleton spans the operator's natural index-to-thumb workspace, and showcase DITTO's dexterous capabilities via learned policies on contact-rich tasks.
发表机构
- Columbia University（哥伦比亚大学）
- Stanford University（斯坦福大学）
机构由 AI 辅助整理，请以论文原文为准。
