DITTO: Dexterous Interface for Transparent TeleOperation

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.

Robotics (cs.RO)

arXiv:2609.19196 [cs.RO]

(or arXiv:2609.19196v1 [cs.RO] for this version)

https://doi.org/10.48550/arXiv.2609.19196 Focus to learn more arXiv-issued DOI via DataCite

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