DEX-Mouse: A Low-cost Portable and Universal Interface with Force Feedback for Data Collection of Dexterous Robotic Hands

• URL: http://arxiv.org/abs/2604.15013v1
• Date: Thu, 16 Apr 2026 13:41:07 GMT
• Title: DEX-Mouse: A Low-cost Portable and Universal Interface with Force Feedback for Data Collection of Dexterous Robotic Hands
• Abstract summary: Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data.<n>We present DEX-Mouse, a portable, calibration-free hand-held teleoperation interface with integrated kinesthetic feedback.
• Score: 4.493178295311741
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while MoCap glove-based teleoperation systems require per-operator calibration and lack portability, as the robot hand is typically fixed to a stationary arm. Portable alternatives improve mobility but lack cross-platform and cross-operator compatibility. We present DEX-Mouse, a portable, calibration-free hand-held teleoperation interface with integrated kinesthetic force feedback, built from commercial off-the-shelf components under USD 150. The operator-agnostic design requires no calibration or structural modification, enabling immediate deployment across diverse environments and platforms. The interface supports a configuration in which the target robot hand is mounted directly on the forearm of an operator, producing robot-aligned data. In a comparative user study across various dexterous manipulation tasks, operators using the proposed system achieved an 86.67% task completion rate under the attached configuration. Also, we found that the attached configuration reduced the perceived workload of the operators compared to spatially separated teleoperation setups across all compared interfaces. The complete hardware and software stack, including bill of materials, CAD models, and firmware, is open-sourced at https://dex-mouse.github.io/ to facilitate replication and adoption.

Related papers

• HyMobileAgent: Data-Environment Co-Scaling for Efficient GUI Agents [57.53434680014667]
  HyMobileAgent is a vision-native foundation model built on Hy3.0-VL-A3B.<n>We develop a joint data and environment centric scaling framework to address the key bottlenecks of mobile interaction.
  arXiv  Detail & Related papers  (2026-07-16T04:12:42Z)
• Towards Human-level Dexterous Teleoperation [62.77371751776912]
  Human-level dexterous teleoperation requires precise control of object motion via dynamic hand-object contact.<n>We introduce TeleDexter, a hand-object co-tracking controller that maps operator intent into learned, low-level contact execution.<n>We evaluate TeleDexter on seven challenging dexterous teleoperation tasks spanning object reorientation and long-horizon tool use across two dexterous hands.
  arXiv  Detail & Related papers  (2026-07-13T12:36:47Z)
• A Bilateral Teleoperation Framework for Dexterous Manipulation [3.0415970267109937]
  Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments.<n>This paper presents a modular bilateral teleoperation framework that integrates a robot-side dexterous hand and compliant robotic arm in a unified control architecture.
  arXiv  Detail & Related papers  (2026-06-13T18:54:35Z)
• RealDexUMI: A Wearable Universal Manipulation Interface for Dexterous Robot Learning [21.875676616617838]
  We present RealDexUMI, a wearable universal manipulation interface built around a shared dexterous end-effector module.<n>A palm-side is teleoperation maps human finger inputs to robot-hand commands, enabling real-time, glove-free, intuitive, and precise hand control.
  arXiv  Detail & Related papers  (2026-06-04T11:28:23Z)
• Dexora: Open-source VLA for High-DoF Bimanual Dexterity [97.98653150757526]
  We introduce Dexora, the first open-source VLA system that targets dual-arm, dual-hand high-DoF manipulation.<n>We design a hybrid teleoperation pipeline that decouples gross arm kinematics from fine finger motion.<n>We show that Dexora outperforms competitive VLA baselines on both basic and dexterous benchmarks.
  arXiv  Detail & Related papers  (2026-05-18T17:50:32Z)
• XRZero-G0: Pushing the Frontier of Dexterous Robotic Manipulation with Interfaces, Quality and Ratios [46.21682933048887]
  XRZero-G0 is a hardware-software co-designed system for embodied data collection and policy learning.<n>We construct a 2,000-hour robot-free dataset that enables zero-shot cross-embodiment transfer to a target physical robot.
  arXiv  Detail & Related papers  (2026-04-14T17:34:21Z)
• UniDex: A Robot Foundation Suite for Universal Dexterous Hand Control from Egocentric Human Videos [65.2981273885678]
  Dexterous manipulation remains challenging due to the cost of collecting real-robot teleoperation data.<n>We present UniDex, a robot foundation suite that couples a large-scale robot-centric dataset with a unified vision-language-action (VLA) policy.<n>UniDex-Dataset, UniDex-VLA, and UniDex-Cap provide a scalable foundation suite for universal dexterous manipulation.
  arXiv  Detail & Related papers  (2026-03-23T17:49:12Z)
• TeleDex: Accessible Dexterous Teleoperation [3.128801903176156]
  We present TeleDex, an open-source system for intuitive teleoperation of dexterous hands and robotic manipulators using any readily available phone.<n>The system streams low-latency 6-DoF wrist poses and articulated 21-DoF hand state estimates from the phone.<n>TeleDex supports both a handheld phone-only mode and an optional 3D-printable hand-mounted interface for finger-level teleoperation.
  arXiv  Detail & Related papers  (2026-03-17T18:50:15Z)
• DexEMG: Towards Dexterous Teleoperation System via EMG2Pose Generalization [5.972698171130012]
  High-fidelity teleoperation of dexterous robotic hands is essential for bringing robots into unstructured domestic environments.<n>We develop a lightweight and cost-effective teleoperation system leveraging surface electromyography (sEMG)<n>We show that our system achieves high precision in diverse teleoperation tasks.
  arXiv  Detail & Related papers  (2026-03-06T03:36:33Z)
• MOSAIC: Bridging the Sim-to-Real Gap in Generalist Humanoid Motion Tracking and Teleoperation with Rapid Residual Adaptation [50.643488406438514]
  Generalist humanoid motion trackers have recently achieved strong simulation metrics by scaling data and training, yet often remain brittle on hardware during sustained teleoperation.<n>We present MOSAIC, an open-source, full-stack system for humanoid motion tracking and whole-body teleoperation across multiple interfaces.
  arXiv  Detail & Related papers  (2026-02-09T12:35:01Z)
• MobileManiBench: Simplifying Model Verification for Mobile Manipulation [70.30578259859512]
  MobileManiBench is a large-scale benchmark for mobile-based robotic manipulation.<n>MobileManiBench features 2 mobile platforms (parallel-gripper and dexterous-hand robots), 2 synchronized cameras (head and right wrist), 630 objects in 20 categories, 5 skills (open, close, pull, push, pick) with over 100 tasks performed in 100 realistic scenes, yielding 300K trajectories.
  arXiv  Detail & Related papers  (2026-02-05T02:49:52Z)
• The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation [20.65893345441958]
  A strong sense of embodiment combined with minimal physical and cognitive demands helps maintain data quality over extended periods.<n>We evaluate two visual feedback mechanisms: immersive virtual reality and conventional screen-based visualization of the robot's field of view.<n>Our results show that the use of VR as a feedback modality increases task completion time, cognitive workload, and perceived effort of the teleoperator.
  arXiv  Detail & Related papers  (2025-09-03T11:25:36Z)
• TeleOpBench: A Simulator-Centric Benchmark for Dual-Arm Dexterous Teleoperation [50.261933845325636]
  We introduce TeleOpBench, a simulator-centric benchmark tailored to bimanual dexterous teleoperation.<n>Within this benchmark we implement four representative teleoperation modalities-(i) MoCap, (ii) VR device, (iii) arm-hand exoskeletons, and (iv) monocular vision tracking.
  arXiv  Detail & Related papers  (2025-05-19T06:08:53Z)
• Whole-Body Teleoperation for Mobile Manipulation at Zero Added Cost [8.71539730969424]
  MoMa-Teleop is a novel teleoperation method that infers end-effector motions from existing interfaces.<n>We demonstrate that our approach results in a significant reduction in task completion time across a variety of robots and tasks.
  arXiv  Detail & Related papers  (2024-09-23T15:09:45Z)
• Online Body Schema Adaptation through Cost-Sensitive Active Learning [63.84207660737483]
  The work was implemented in a simulation environment, using the 7DoF arm of the iCub robot simulator. A cost-sensitive active learning approach is used to select optimal joint configurations. The results show cost-sensitive active learning has similar accuracy to the standard active learning approach, while reducing in about half the executed movement.
  arXiv  Detail & Related papers  (2021-01-26T16:01:02Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.