DITTO: Dexterous Interface for Transparent TeleOperation

2026-09-15

AI Summary

为解决高自由度手部操作数据收集难题，DITTO通过设计7-DOF机械手和动力外骨骼，实现了带有力反馈的双侧遥操作与自然数据采集。

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.

Problem

• high-DOF hands
• data collection
• force feedback
• teleoperation

Innovation

• dexterous interface
• transparent teleoperation
• force feedback
• kinematically equivalent exoskeleton
• high-DOF manipulation