Human demonstration

We propose the use of a sensorized wearable exoskeleton for data collection, which allows operators to directly interact with the real environment. This device, in the form of a glove with rigid segments connected by joints, is designed to replicate the kinematic structure and joint limits of a Shadow DEX-EE hand.
Left: Human demonstrations in the real world; Right: Demonstration replay in the simulation

airpod-demo-view.mp4

airpod-replay-view.mp4

bulb-demo-view.mp4

bulb-replay-view.mp4

cube-demo-view.mp4

cube-replay-view.mp4

key-demo-view.mp4

key-replay-view.mp4

nut-demo-view.mp4

nut-replay-view.mp4

peg-insert-demo-view.mp4

peg-insert-replay-view.mp4

peg-stand-demo-view.mp4

peg-stand-replay-view.mp4

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