Abstract
Comment: 6 pages, 5 figures, 2 tables. Dongmyoung Lee and Chengxi Li contributed equally to this research
DexTwist: Dexterous Hand Retargeting for Twist Motion via Mixed Reality-based Teleoperation
- Authors
- Dongmyoung Lee, Chengxi Li, Dongheui Lee
- Categories
- cs.RO
Brief
DexTwist introduces a functional twist-retargeting method for MR-based teleoperation that targets contact-rich rotational manipulation where kinematic imitation fails. The system detects tripod pinches, estimates intended screw axis and twist, then performs a real-time joint-space residual optimization minimizing a virtual-object objective (turn angle, axis consistency, fingertip closure, tripod stability). Simulations and real tests demonstrate improved turning-angle tracking and reduced screw-axis drift versus a vector-based baseline.