[
    {
        "id": "osp-26672",
        "type": "article-journal",
        "title": "DITTO: Dexterous Interface for Transparent TeleOperation",
        "author": [
            {
                "family": "Palacios",
                "given": "Joaquin"
            },
            {
                "family": "Lee",
                "given": "Katelyn"
            },
            {
                "family": "Zhang",
                "given": "Cheng"
            },
            {
                "family": "He",
                "given": "Zhanpeng"
            },
            {
                "family": "Ciocarlie",
                "given": "Matei"
            }
        ],
        "URL": "https://omanscience.com/ar/articles/ditto-dexterous-interface-for-transparent-teleoperation",
        "language": "en",
        "issued": {
            "date-parts": [
                [
                    2026
                ]
            ]
        },
        "abstract": "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."
    }
]