الملخص
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.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Palacios, J., Lee, K., Zhang, C., He, Z., & Ciocarlie, M. (2026). DITTO: Dexterous Interface for Transparent TeleOperation. https://omanscience.com/ar/articles/ditto-dexterous-interface-for-transparent-teleoperation
MLA 9
Palacios, Joaquin, et al. "DITTO: Dexterous Interface for Transparent TeleOperation." https://omanscience.com/ar/articles/ditto-dexterous-interface-for-transparent-teleoperation.
شيكاغو (المؤلف–التاريخ)
Palacios, Joaquin, Katelyn Lee, Cheng Zhang, Zhanpeng He, and Matei Ciocarlie. 2026. "DITTO: Dexterous Interface for Transparent TeleOperation." https://omanscience.com/ar/articles/ditto-dexterous-interface-for-transparent-teleoperation.
هارفارد
Palacios, J., Lee, K., Zhang, C., He, Z. and Ciocarlie, M. (2026) 'DITTO: Dexterous Interface for Transparent TeleOperation', Available at: https://omanscience.com/ar/articles/ditto-dexterous-interface-for-transparent-teleoperation.
فانكوفر
Palacios J, Lee K, Zhang C, He Z, Ciocarlie M. DITTO: Dexterous Interface for Transparent TeleOperation. https://omanscience.com/ar/articles/ditto-dexterous-interface-for-transparent-teleoperation
IEEE
J. Palacios, K. Lee, C. Zhang, Z. He, and M. Ciocarlie, "DITTO: Dexterous Interface for Transparent TeleOperation," https://omanscience.com/ar/articles/ditto-dexterous-interface-for-transparent-teleoperation.