DexUMI Teleoperator
[PLACEHOLDER] Photo — DexUMI device held in hand
DexUMI is a custom handheld teleoperator built around the Stretch 3’s parallel gripper. By matching the geometry of the robot’s end effector, the cross-embodiment gap is eliminated — human demonstration data transfers directly without remapping.
[PLACEHOLDER] CAD / exploded view of DexUMI assembly
eFlesh Tactile Sensors
[PLACEHOLDER] Close-up photo — eFlesh sensor mounted on fingertip
Each fingertip embeds 5 MLX90393 3-axis magnetometers in a soft elastomer skin, yielding a 15-dimensional tactile signal per finger. Sensors are read by a QT Py microcontroller over USB serial and published to ROS 2 via a custom node.
[PLACEHOLDER] Diagram — 5 MLX90393 positions per fingertip
Hello Robot Stretch 3
[PLACEHOLDER] Photo — Stretch 3 with full sensor suite mounted
The Hello Robot Stretch 3 is a lightweight mobile manipulator with a telescoping arm. Its parallel gripper is the geometric basis for the DexUMI design. Sensing modalities mounted on the robot:
- Gripper camera — 640×480 RGB, JPEG-compressed, streamed over ZMQ
- eFlesh sensors — mounted on both gripper fingers
- ArUco marker — cube mounted on gripper for end-effector pose ground truth
- Joint encoders — lift, arm, wrist yaw/pitch/roll, gripper aperture
Bill of Materials
[PLACEHOLDER] Bill of materials