# XRoboToolKit-T：面向接触密集操作的具备触觉感知的高稳定性与高精度遥操作

> 原文链接：https://robotics.hellobike.com/papers/2026-09-14-2609-16437
> 频道：papers | 更新日期：2026-09-14 | 标签：arxiv, cs.RO
> 核心摘要：提出XRoboToolKit-T，通过触觉感知力控制与触觉辅助实现高频稳定遥操作，并在接触密集操作任务上验证。

# XRoboToolKit-T：面向接触密集操作的具备触觉感知的高稳定性与高精度遥操作

::: v-pre
> 原文链接：[XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation](https://arxiv.org/abs/2609.16437)（arXiv 2609.16437 · 发布日期：2026-09-14）

**XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation**

提出XRoboToolKit-T，通过触觉感知力控制与触觉辅助实现高频稳定遥操作，并在接触密集操作任务上验证。

## 核心要点

- 接触密集操作需要高质量机器人数据，但现有采集方案常缺少稳定高频触觉反馈。
- 系统采用触觉信息力控制架构，在遥操作中实现稳定且精确的接触力控制。
- 稳定器模块分析法向力分布并推断伪剪切力，细化器模块结合VLA模型优化动作。
- 在移液管液体转移和注射器插入训练垫任务中，相比无触觉辅助遥操作提升效率与稳定性。

**验证范围与局限**：验证范围为抓取可变形橡胶移液管进行液体转移、将医用注射器插入血管训练垫等接触密集任务。

## 英文摘要 (Abstract)

Collecting high-quality robot data for contact-rich manipulation tasks is essential for enabling robots to acquire real-world skills. However, existing data collection solutions often lack the capability to obtain stable and high-frequency tactile feedback, limiting their effectiveness in contact-rich manipulation scenarios. In this work, we propose a versatile teleoperation system with tactile-driven assistance to enable high-frequency and stable contact-rich manipulation. The proposed XRoboToolKit-T teleoperation system incorporates a tactile-informed force control architecture, designed to ensure both stable and precise force control in contact-rich manipulation during teleoperation. The stabilizer haptic module rapidly analyzes the normal force distribution and infers pseudo shear force, enabling real-time tactile-based assistance during manipulation. The refiner haptic module integrates a vision-language-action model to predict and refine manipulation actions based on tactile sensing data and task descriptions. We apply the proposed teleoperation system to challenging contact-rich manipulation tasks, including grasping a deformable rubber pipette for liquid transfer and inserting a medical syringe into a vascular training pad, to demonstrate the effectiveness of tactile-informed force control. Furthermore, the system achieves higher data collection efficiency and improved manipulation stability compared to state-of-the-art teleoperation without tactile assistance.

作者：Xiwen Dengxiong, Xueting Wang, Ke Jing, Rui Li, Yunbo Zhang
:::

## 原始参考来源 (Sources)

- [arXiv 2609.16437：XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation](https://arxiv.org/abs/2609.16437)