GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove
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| Main Authors: | , , , |
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| Format: | Preprint |
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2025
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| _version_ | 1866914180983947264 |
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| author | Dong, Yunlong Liu, Xing Wan, Jun Deng, Zelin |
| author_facet | Dong, Yunlong Liu, Xing Wan, Jun Deng, Zelin |
| contents | This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation framework through kinematic retargeting for high-fidelity control. Both components employ modular 3D-printed finger designs, achieving ultra-low manufacturing costs while maintaining full actuation capabilities. Departing from conventional tendon-driven or underactuated approaches, our electromechanical system integrates independent joint motors across all 23 DoF, ensuring complete state observability and accurate kinematic modeling. This full-actuation architecture enables precise bidirectional kinematic calculations, substantially enhancing kinematic retargeting fidelity between the exoskeleton and robotic hand. The proposed system bridges the cost-performance gap in dexterous manipulation research, providing an accessible platform for acquiring high-quality demonstration data to advance embodied AI and dexterous robotic skill transfer learning. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2506_04982 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove Dong, Yunlong Liu, Xing Wan, Jun Deng, Zelin Robotics This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation framework through kinematic retargeting for high-fidelity control. Both components employ modular 3D-printed finger designs, achieving ultra-low manufacturing costs while maintaining full actuation capabilities. Departing from conventional tendon-driven or underactuated approaches, our electromechanical system integrates independent joint motors across all 23 DoF, ensuring complete state observability and accurate kinematic modeling. This full-actuation architecture enables precise bidirectional kinematic calculations, substantially enhancing kinematic retargeting fidelity between the exoskeleton and robotic hand. The proposed system bridges the cost-performance gap in dexterous manipulation research, providing an accessible platform for acquiring high-quality demonstration data to advance embodied AI and dexterous robotic skill transfer learning. |
| title | GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove |
| topic | Robotics |
| url | https://arxiv.org/abs/2506.04982 |