Dexterous teleoperation requires precise arm-hand coordination, low-latency feedback, and robust interaction in real-world contact-rich environments. This paper presents a modular bilateral teleoperation framework that integrates operator-side input interfaces with a robot-side dexterous hand and compliant robotic arm in a unified control architecture. The system supports position-based hand retargeting, differential arm control, multi-scale haptic feedback, and shared control for stable manipulation. We validate the framework through a real-world dexterous manipulation task, highlighting coordinated arm-hand control and contact-aware interaction. Beyond feasibility, we identify key design insights related to cross-embodiment mismatch, haptic feedback granularity, and shared control. The proposed platform provides a practical teleoperation system and a foundation for collecting high-quality demonstrations for future learning-from-demonstration research.

翻译：灵巧遥操作要求精确的手臂-手部协调、低延迟反馈以及在真实世界中富含接触的鲁棒交互。本文提出了一种模块化双边遥操作框架，该框架将操作者侧输入接口与机器人侧灵巧手和柔性机械臂集成到统一的控制架构中。该系统支持基于位置的手部重定向、差分手臂控制、多尺度触觉反馈以及用于稳定操作的共享控制。我们通过一项真实世界的灵巧操作任务验证了该框架，重点展示了手臂-手部协调控制和接触感知交互。除了可行性验证外，我们还识别出与跨体现失配、触觉反馈粒度及共享控制相关的关键设计见解。所提出的平台提供了一个实用的遥操作系统，并为未来基于示教学习研究收集高质量演示数据奠定了基础。