ExoBridge：通过人体肢体耦合学习裸手到外骨骼映射

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   arXiv · Robotics

   ExoBridge：通过人体肢体耦合学习裸手到穿戴式外骨骼的映射

   ExoBridge 利用人体肢体耦合，从裸手视频学习到传感外骨骼运动与触觉状态的桥接函数。采集时一手裸手提供视觉观测，另一手穿戴外骨骼提供同步运动与触觉测量，训练时序视觉模型预测指尖接触、连续触觉强度与相对编码器运动。在四个操作任务的 1,215 个演示上评估，any contact AUROC 为 0.916，触觉强度 Pearson 相关为 0.790。

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