Universal Manipulation Exoskeleton: Learning Compliant Whole-body Policies with Real-time Torque Feedback

The article introduces the Universal Manipulation Exoskeleton (UME), a lightweight and portable upper-limb exoskeleton designed for real-time haptic torque feedback during teleoperation. It captures whole-arm configurations and joint torque signals, enabling the learning of compliant policies for various robots, such as the 7DoF OpenArm and 6DoF X-ARM. This development is significant for practitioners as it facilitates robust autonomous manipulation in constrained environments, enhancing the safety and effectiveness of robotic systems in household applications.