https://sites.northwestern.edu/hapticsgroup/
This README is designed to be a starting point for anyone who wants to learn about the DexNex Dexterity Testbed and how it functions.
DexNex's objective is to serve as a testbed for dexterous manipulation. New hardware and software can be installed/integrated with the testbed. It's designed to expedite research of novel manipulators, sensors, algorithms, and controls.
The system is composed of two stations: the Operator and Avatar. Each station is made of three main subsystems: Arms, Hands, and Vision.
Here a human operator physically connects to the station and begins teleoperation.
Here commands are received over-the-wire and are executed by the Avatar.
Robotic arms replicate the pose of the operator's palms
Robot hands replicate the joints of the operator's fingers
Avatar cameras provide stereoscopic vision to a Head-Mounted-Display (HMD), a.k.a. a VR Headset, which the user wears.