https://peertube.laas.fr/videos/watch/61bab866-f0ed-45c3-b60f-d46b10401bd2 This movie illustrates the master thesis practice training of Lilian Briaut from 07/04/2026 to 24/08/26. He implemented the exoskeleton proposed in paper [1] to teleoperate the H1v2 robot to perform manipulation with dexterous hands such as the RH56DFTP Inspire Hands. The arms are controlled here using Pink [2] from the MoCap system attached to DexUMI exoskeletons. Two oak cameras are attached to the wrist to record the object behaviors. The robot is also providing information from his MID360 Lidar and the Intel Real Sense d435i present in the H1v2's head. It appears clearly from his work that it is quite difficult to teleoperate the robot. The next step is to try the variant where the exoskeleton is equipped with tactile sensor and where humands are way much faster. [1] DexUMI: Using Human Hand as the Universal Manipulation Interface for Dexterous Manipulation, Mengda Xu, Han Zhang, Yifan Hou1, Zhenjia Xu, Linxi Fan, Manuela Veloso, Shuran Song CORL 2025 (Finalist for Best Paper Award), https://dex-umi.github.io/ [2] Pink: Python inverse kinematics based on Pinocchio, Caron, Stéphane and De Mont-Marin, Yann and Budhiraja, Rohan and Bang, Seung Hyeon and Domrachev, Ivan and Nedelchev, Simeon and Du, Peter and Escande, Adrien and Vaillant, Joris and Wingo, Bruce and Patapati, Santosh and San José Pro, Daniel and Marticorena Vidal, Nicolas Guillermo, Apache-2.0, https://github.com/stephane-caron/pink, version 4.3.0 Sat, 22 Aug 2026 19:52:02 GMT https://validator.w3.org/feed/docs/rss2.html PeerTube - https://peertube.laas.fr https://peertube.laas.fr/lazy-static/avatars/d5a80afa-76a2-4f1e-84ca-ce63a74b79ab.png https://peertube.laas.fr/videos/watch/61bab866-f0ed-45c3-b60f-d46b10401bd2 All rights reserved, unless otherwise specified in the terms specified at https://peertube.laas.fr/about and potential licenses granted by each content's rightholder.