论文/arXiv 2609.16437·1 个月前

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

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。

AI 整理

• 本体 SDK 与控制
• 数据与采集
• 具身模型

原文链接：XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation（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

来源

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1. arXiv 2609.16437：XRoboToolKit-T: Teleoperation with High Stability and Precision with Tactile Sensing for Contact-rich Manipulation访问 2026-10-21