DEX-Mouse: A Low-cost Portable and Universal Interface with Force Feedback for Data Collection of Dexterous Robotic Hands

arXiv cs.RO / 4/17/2026

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Key Points

The arXiv paper introduces DEX-Mouse, a low-cost (under USD 150), portable, calibration-free handheld teleoperation interface designed for collecting consistent data for dexterous robotic hand manipulation.
Unlike MoCap glove and stationary-robot setups that require per-operator calibration and reduce portability, DEX-Mouse is operator-agnostic and supports deployment across different environments and platforms.
A key system configuration mounts the target robot hand directly on the operator’s forearm to produce robot-aligned data, improving task execution outcomes.
In a user study across multiple dexterous manipulation tasks, users achieved an 86.67% task completion rate with the attached configuration, and the setup reduced operators’ perceived workload versus spatially separated teleoperation.
The authors open-source the full hardware/software stack (including BOM, CAD models, and firmware) to enable replication and broader adoption.

Abstract

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.