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arXiv · 2606.15434

A Bilateral Teleoperation Framework for Dexterous Manipulation

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
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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.

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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. 2026-06-13. A Bilateral Teleoperation Framework for Dexterous Manipulation. https://arxiv.org/abs/2606.15434

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