Data-driven dexterous hand manipulation requires large-scale, physically consistent demonstration data. Simulation and video-based methods suffer from sim-to-real gaps and retargeting problems, while MoCap glove-based teleoperation systems require per-operator calibration and lack portability, as the robot hand is typically fixed to a stationary arm. Portable alternatives improve mobility but lack cross-platform and cross-operator compatibility. We present DEX-Mouse, a portable, calibration-free hand-held teleoperation interface with integrated kinesthetic force feedback, built from commercial off-the-shelf components under USD 150. The operator-agnostic design requires no calibration or structural modification, enabling immediate deployment across diverse environments and platforms. The interface supports a configuration in which the target robot hand is mounted directly on the forearm of an operator, producing robot-aligned data. In a comparative user study across various dexterous manipulation tasks, operators using the proposed system achieved an 86.67% task completion rate under the attached configuration. Also, we found that the attached configuration reduced the perceived workload of the operators compared to spatially separated teleoperation setups across all compared interfaces. The complete hardware and software stack, including bill of materials, CAD models, and firmware, is open-sourced at https://dex-mouse.github.io/ to facilitate replication and adoption.

翻译：数据驱动的灵巧手操作需要大规模、物理一致性的演示数据。仿真和基于视频的方法存在仿真与现实差距及重定向问题，而基于数据手套的动作捕捉遥操作系统需要针对每位操作员进行校准，且缺乏便携性——机器人手通常固定在静止的机械臂上。便携式替代方案虽提升了移动性，但缺乏跨平台和跨操作员的兼容性。我们提出了DEX-Mouse，一种便携、免校准的手持式遥操作界面，集成本体感觉力反馈，采用商用现成组件构建，成本低于150美元。该设计无需校准或结构修改即可操作员通用，支持跨不同环境和平台的即时部署。该界面支持将目标机器人手直接安装在操作员前臂的配置，从而生成与机器人对齐的数据。在涉及多种灵巧操作任务的对比用户研究中，使用所提系统的操作员在附加配置下实现了86.67%的任务完成率。此外，我们发现与所有对比界面中空间分离的遥操作设置相比，附加配置降低了操作员的感知工作负荷。完整的软硬件堆栈，包括物料清单、CAD模型和固件，已在https://dex-mouse.github.io/开源，以促进复制和推广。