GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove
Journal:
arXiv
Published Date:
Jun 5, 2025
Abstract
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.
