MILE: 巧みな操作のデータ収集のための機械的同型ハンドエクソスケルトンと視触覚ロボットハンド
MILE: A Mechanically Isomorphic Hand Exoskeleton and Visuotactile Robotic Hand for Data Collection in Dexterous Manipulation
人間の手の構造に基づくエクソスケルトンと、それに対応する視触覚ロボットハンドを開発し、巧みな操作の実演データを同期収集できるテレオペレーションシステムを構築した。
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著者: Jinda Du, Jieji Ren, Qiaojun Yu, Ningbin Zhang, Yu Deng, Xingyu Wei, Yufei Liu, Guoying Gu, Xiangyang Zhu
分類: cs.RO, cs.CV, cs.HC
原文アブストラクト
Dexterous robotic hands are expected to perform complex, contact-rich object manipulation, but learning such skills remains challenging because high-dimensional hands require high-fidelity demonstrations. Imitation learning provides a practical route for acquiring dexterous manipulation skills from human demonstrations, yet collecting synchronized multimodal demonstrations with accurate hand actions and tactile observations remains a key bottleneck. We present MILE, a teleoperation-based data-collection system comprising the human-first MILE exoskeleton and the mechanically corresponding MILE-Tac robotic hand. The system integrates custom-designed and fabricated modular joint encoders and compact MILE fingertip visuotactile sensor modules. The exoskeleton is informed by human-hand anatomy and ergonomic constraints, while the robotic hand is co-designed to preserve the selected four-finger kinematic topology. This correspondence enables joint-space command transfer and reduces reliance on task-space IK-based retargeting. The system synchronously records task-specific visual observations, four fingertip visuotactile streams, robot-hand proprioception, and exoskeleton-derived action commands. We evaluate MILE through a four-task teleoperation benchmark against representative glove-based and vision-based interfaces, and through imitation-learning experiments that compare policies trained with and without fingertip tactile input. The project page is available at https://sites.google.com/view/mile-system.
関連論文
- ViHaTeleop: 器用な操作学習のための低コスト・軽量な視覚-触覚テレオペレーションシステムテレオペレーション/触覚
- 触覚グローブで操作するドローン遠隔ピッキング配送システムテレオペレーション/触覚
