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

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/s9qjq3a6omygj157wm93wu4v0
- Original: https://arxiv.org/abs/2610.35462

## Summary

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.