Kinematic-Tactile Aligned Dexterous Retargeting with Contact Wrench Space
Overview
This research presents a three-stage framework for dexterous retargeting that aligns human and robot hand kinematics and tactile information through contact wrench space. The method achieves 96.7% replay success in real robot experiments, demonstrating effective transfer of physical interaction data for manipulation tasks.
From arXiv Robotics — research abstracts
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“and converted into joint position corrections, yielding directly replayable robot hand trajectories. We evaluate the framework in simulation and real robot experiments across three pouring conditions. In the real robot experiments, our method achieves a 96.7\% replay success rate and higher wrench transfer fidelity than representative retargeting baselines. The framework enables physically grounded transfer of kinem”
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- 2026-10-30T23:56:12.423Z · evidence updated · source revision 1. Evidence extraction was updated; current source attributions are shown above.
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- arXiv Robotics — research abstractsSignalKinematic-Tactile Aligned Dexterous Retargeting with Contact Wrench Space Alignment
This research presents a three-stage framework for dexterous retargeting that aligns human and robot hand kinematics and tactile information through contact wrench space. The method achieves 96.7% replay success in real robot experiments, demonstrating effective transfer of physical interaction data for manipulation tasks.
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