Article

DEX-PHD: A Portable Handheld Device for Multimodal Data Collection for Dexterous Manipulation

The authors propose DEX-PHD, a portable handheld device that integrates a dexterous robot hand, continuous per-finger control, and multimodal logging, and can collect proprioceptive information, fingertip contact data, and wrist-camera video, with the operator directly controlling the robot hand through joint-level mapping. Its untethered design supports data collection in a variety of environments. The authors demonstrate it on contact-rich tasks that require multi-finger coordination, and execute the collected demonstrations on a physical humanoid robot through open-loop replay; the results show that open-loop replay preserves the main temporal patterns of finger motion and task-relevant contact.

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