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CDF-Glove: A Cable-Driven Force Feedback Glove for Dexterous Teleoperation

Huayue Liang, Ruochong Li, Yaodong Yang, Long Zeng, Yuanpei Chen, Xueqian Wang

TL;DR

CDF-Glove is introduced, a lightweight and low cost cable-driven force-feedback glove, and a kinematic model and control stack for the glove is developed, and validated across multiple robotic hands with diverse kinematics and DoF.

Abstract

High-quality teleoperated demonstrations are a primary bottleneck for imitation learning (IL) in dexterous manipulation. However, haptic feedback provides operators with real-time contact information, enabling real-time finger posture adjustments, and thereby improving demonstration quality. Existing dexterous teleoperation platforms typically omit haptic feedback and remain bulky and expensive. We introduce CDF-Glove, a lightweight and low cost cable-driven force-feedback glove. The real-time state is available for 20 finger degrees of freedom (DoF), of which 16 are directly sensed and 4 are passively coupled (inferred from kinematic constraints). We develop a kinematic model and control stack for the glove, and validate them across multiple robotic hands with diverse kinematics and DoF. The CDF-Glove achieves distal joint repeatability of 0.4 degrees, and delivers about 200 ms force feedback latency, yielding a 4x improvement in task success rate relative to no-feedback teleoperation. We collect two bimanual teleoperation datasets, on which we train and evaluate Diffusion Policy baselines. Compared to kinesthetic teaching, the policies trained in our teleoperated demonstrations increase the average success rate by 55% and reduce the mean completion time by approximately 15.2 seconds (a 47.2% relative reduction). In particular, the CDF-Glove costs approximately US$230. The code and designs are released as open source at https://cdfglove.github.io/.

CDF-Glove: A Cable-Driven Force Feedback Glove for Dexterous Teleoperation

TL;DR

CDF-Glove is introduced, a lightweight and low cost cable-driven force-feedback glove, and a kinematic model and control stack for the glove is developed, and validated across multiple robotic hands with diverse kinematics and DoF.

Abstract

High-quality teleoperated demonstrations are a primary bottleneck for imitation learning (IL) in dexterous manipulation. However, haptic feedback provides operators with real-time contact information, enabling real-time finger posture adjustments, and thereby improving demonstration quality. Existing dexterous teleoperation platforms typically omit haptic feedback and remain bulky and expensive. We introduce CDF-Glove, a lightweight and low cost cable-driven force-feedback glove. The real-time state is available for 20 finger degrees of freedom (DoF), of which 16 are directly sensed and 4 are passively coupled (inferred from kinematic constraints). We develop a kinematic model and control stack for the glove, and validate them across multiple robotic hands with diverse kinematics and DoF. The CDF-Glove achieves distal joint repeatability of 0.4 degrees, and delivers about 200 ms force feedback latency, yielding a 4x improvement in task success rate relative to no-feedback teleoperation. We collect two bimanual teleoperation datasets, on which we train and evaluate Diffusion Policy baselines. Compared to kinesthetic teaching, the policies trained in our teleoperated demonstrations increase the average success rate by 55% and reduce the mean completion time by approximately 15.2 seconds (a 47.2% relative reduction). In particular, the CDF-Glove costs approximately US$230. The code and designs are released as open source at https://cdfglove.github.io/.
Paper Structure (20 sections, 7 equations, 13 figures, 5 tables)

This paper contains 20 sections, 7 equations, 13 figures, 5 tables.

Table of Contents

  1. Introduction
  2. related work
  3. General Demonstration Teleoperation
  4. Wearable Devices for Teleoperation
  5. mechanical design
  6. Design Requirements and Approach
  7. Measurement System
  8. Force Feedback System
  9. System Modeling
  10. Kinematic Model of Finger Joint
  11. Force-feedback Cable Following Calculation
  12. Experiments
  13. CDF-Glove Performance Validation
  14. CDF-Glove Basic Control Demonstration
  15. CDF-Glove Force Feedback Performance
  16. ...and 5 more sections

Figures (13)

  • Figure 1: The CDF-Glove and the whole machine teleoperation system. The CDF-Glove is worn on the operator's hand to collect hand joint data and provide haptic feedback.
  • Figure 2: Overview of the CDF-Glove system. (a) Overall structural diagram of the CDF-Glove system. (b) Kinematic structure of the human hand system. (c) Overall kinematic layout of the CDF-Glove system.
  • Figure 3: Arrangement of encoders at the base of the fingers.
  • Figure 4: Exploded view of the single-finger structure.
  • Figure 5: Kinematic model for a single finger joint in the flexed position. (a) Schematic of joint angle calculation for an individual finger. (b) Force-feedback cable following calculation based on fingertip position localization.
  • ...and 8 more figures