What is Dexterous Hand Data?
Dexterous Hand Data — demonstrations for multi-fingered robot hands, including in-hand manipulation that a two-finger gripper cannot do.
A dexterous hand moves its fingers independently — the Allegro Hand has four fingers and 16 joints, and the LEAP Hand is a lower-cost research alternative — so its data records every joint, not an open-or-closed state. The tasks differ in kind as well: rotating an object inside the hand, regrasping, thumb opposition. None of these reduce to a grasp pose, which is part of what makes the data expensive.
Capture is usually teleoperation through a glove or a retargeted human hand. Retargeting is the hard step: a human hand has more degrees of freedom than most robot hands, so the mapping has to choose what to preserve — fingertip positions, joint angles or contact — and different choices produce visibly different demonstrations of the same human motion.
Hands fitted with tactile sensing add a contact stream that has to stay calibrated, and a good sample names both the hand and the retargeting convention, because a trajectory without them cannot be reproduced. Dexterous collection is quoted at a multiple of simple gripper collection, and it is the category most often commissioned to order rather than bought off the shelf.
Related terms
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Teleoperation
Teleoperation — a human drives the robot directly, and the robot's motion is recorded as a training demonstration.
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Tactile Sensor Data
Tactile Sensor Data — contact measurements from a robot's fingertips or skin: pressure, force and, in optical sensors, images of the contact itself.
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Motion Capture Data
Motion Capture Data — human body motion recorded as joint trajectories, used for animation and as a reference for robots that imitate people.
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Full glossary
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