GEX: Democratizing Dexterity with Fully-Actuated Dexterous Hand and Exoskeleton Glove

Abstract

This paper introduces GEX, an innovative low-cost dexterous manipulation system that combines the GX11 tri-finger anthropomorphic hand (11 DoF) with the EX12 tri-finger exoskeleton glove (12 DoF), forming a closed-loop teleoperation framework through kinematic retargeting for high-fidelity control. Both components employ modular 3D-printed finger designs, achieving ultra-low manufacturing costs while maintaining full actuation capabilities. Departing from conventional tendon-driven or underactuated approaches, our electromechanical system integrates independent joint motors across all 23 DoF, ensuring complete state observability and accurate kinematic modeling. This full-actuation architecture enables precise bidirectional kinematic calculations, substantially enhancing kinematic retargeting fidelity between the exoskeleton and robotic hand. The proposed system bridges the cost-performance gap in dexterous manipulation research, providing an accessible platform for acquiring high-quality demonstration data to advance embodied AI and dexterous robotic skill transfer learning.