A Bilateral Teleoperation Framework for Dexterous Manipulation

Authors:Stefano Dalla Gasperina, Dong Ho Kang, Haiyun Zhang, Aldo Galvan, Job D. Ramirez, Aaron Kim, Mark Helwig, Kazuto Yokoyama, Takahisa Ueno, Tetsuya Narita, Ann Majewicz-Fey, Ashish D. Deshpande, Luis Sentis

Abstract:Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments. This paper presents a modular bilateral teleoperation framework that integrates operator-side input interfaces with a robot-side dexterous hand and compliant robotic arm in a unified control architecture. The system supports position-based hand retargeting, differential arm control, multi-scale haptic feedback, and shared control for stable manipulation. We validate the framework through a real-world dexterous manipulation task, highlighting coordinated arm-hand control and contact-aware interaction. Beyond feasibility, we identify key design insights related to cross-embodiment mismatch, haptic feedback granularity, and shared control. The proposed platform provides a practical teleoperation system and a foundation for collecting high-quality demonstrations for future learning-from-demonstration research.

Robotics (cs.RO); Human-Computer Interaction (cs.HC); Systems and Control (eess.SY)

arXiv:2606.15434 [cs.RO]

(or arXiv:2606.15434v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2606.15434 arXiv-issued DOI via DataCite (pending registration)