{"id":9491,"date":"2026-06-22T05:50:39","date_gmt":"2026-06-21T21:50:39","guid":{"rendered":"https:\/\/infernews.com\/blog\/post-43e543e5\/"},"modified":"2026-06-22T05:51:00","modified_gmt":"2026-06-21T21:51:00","slug":"post-43e543e5","status":"publish","type":"post","link":"https:\/\/infernews.com\/blog\/post-43e543e5\/","title":{"rendered":"UME \u53ef\u56de\u994b\u529b\u5ea6\u7684\u6a5f\u68b0\u4eba\u9059\u64cd\u4f5c\u5916\u9aa8\u9abc"},"content":{"rendered":"\n<figure class=\"wp-block-image size-large\"><img decoding=\"async\" src=\"https:\/\/infernews.com\/blog\/wp-content\/uploads\/2026\/06\/robot_materials.jpg\" alt=\"\u8682\u8681\u96c6\u56e2\u6807\u5fd7(\u82f1) \u6b63\u8272\"\/><\/figure>\n\n\n\n<p class=\"wp-block-paragraph\">Universal Manipulation Exoskeleton\uff08UME\uff09\u662f\u4e00\u500b\u4e0a\u80a2\u5916\u9aa8\u9abc\u9059\u64cd\u4f5c\u9805\u76ee\uff0c\u91cd\u9ede\u4e0d\u53ea\u662f\u5728\u9060\u7aef\u63a7\u5236\u6a5f\u68b0\u4eba\uff0c\u66f4\u662f\u5728\u64cd\u4f5c\u671f\u9593\u5373\u6642\u63d0\u4f9b haptic torque feedback\uff0c\u4e26\u540c\u6b65\u8a18\u9304\u6574\u689d\u624b\u81c2\u59ff\u614b\u8207\u95dc\u7bc0 torque \u8a0a\u865f\u3002\u9801\u9762\u6307\u51fa\uff0c\u5b83\u60f3\u89e3\u6c7a\u7684\u6838\u5fc3\u554f\u984c\u662f\uff1a\u5f88\u591a\u6a5f\u68b0\u4eba\u793a\u7bc4\u6578\u64da\u6d41\u7a0b\u53ea\u8a18\u5230\u52d5\u4f5c\uff0c\u537b\u8a18\u4e0d\u5230\u63a5\u89f8\u6642\u7684\u529b\u8207\u626d\u529b\uff0c\u4ee4\u6a21\u578b\u8f03\u96e3\u5b78\u6703\u9806\u61c9\u74b0\u5883\u7684 compliant \u884c\u70ba\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u8207\u5e38\u898b\u53ea\u9760\u8996\u89ba\u6216\u4f4d\u7f6e\u63a7\u5236\u7684\u505a\u6cd5\u76f8\u6bd4\uff0cUME \u628a\u300c\u4eba\u624b\u611f\u53d7\u5230\u7684\u963b\u529b\u300d\u76f4\u63a5\u5e36\u56de\u64cd\u4f5c\u8005\u8eab\u4e0a\u3002\u9019\u7a2e\u900f\u660e torque feedback \u4ee4\u64cd\u4f5c\u8005\u5373\u4f7f\u8499\u773c\uff0c\u4e5f\u80fd\u5b8c\u6210\u4f8b\u5982\u62bd\u51fa\u53d7\u904b\u52d5\u9650\u5236\u7269\u4ef6\u9019\u985e\u4efb\u52d9\uff1b\u5c0d\u9700\u8981\u63a5\u89f8\u3001\u64e0\u58d3\u3001\u63a8\u52d5\u6216\u5728\u72f9\u7a84\u7a7a\u9593\u5167\u8abf\u6574\u89d2\u5ea6\u7684\u5de5\u4f5c\uff0c\u5dee\u7570\u5c24\u5176\u660e\u986f\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">UME \u914d\u5099 embedded IMU\uff0c\u53ef\u652f\u63f4 mobile manipulation\uff0c\u4e26\u914d\u5408 universal retargeting algorithm\uff0c\u628a\u540c\u4e00\u5957\u64cd\u4f5c\u6620\u5c04\u5230\u4e0d\u540c\u6a5f\u68b0\u81c2\uff0c\u5305\u62ec 7DoF OpenArm\u30017DoF Franka \u8207 6DoF X-ARM\u3002\u6574\u5957 UME system \u6210\u672c\u70ba 1900 \u7f8e\u5143\uff0c\u8a73\u7d30\u6210\u672c\u62c6\u89e3\u53ef\u5728\u8ad6\u6587\u4e2d\u627e\u5230\uff0c\u9019\u5c0d\u7814\u7a76\u5718\u968a\u6216\u81ea\u5efa\u5be6\u9a57\u5e73\u53f0\u7684\u4eba\u4f86\u8aaa\uff0c\u662f\u5f88\u5be6\u969b\u7684\u53c3\u8003\u9ede\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u53ef\u8a18\u9304 whole-arm configurations \u8207 joint torque signals\uff0c\u7528\u65bc\u8a13\u7df4 active compliant policies<\/li>\n\n\n\n<li>\u652f\u63f4 bimanual\u3001whole-body \u53ca long-horizon mobile manipulation \u4efb\u52d9<\/li>\n\n\n\n<li>\u5df2\u5c55\u793a\u96ea\u6ac3\u53d6\u98f2\u54c1\u3001\u7bb1\u5b50\u7ffb\u8f49\u3001\u906e\u64cb\u4e0b\u63a8\u7bb1\u3001\u72f9\u7a84\u684c\u9762\u64cd\u4f5c\u7b49\u60c5\u5883<\/li>\n\n\n\n<li>\u9801\u9762\u63d0\u4f9b Paper\u3001Video\uff0cCode \u6a19\u793a\u70ba coming soon\uff0c\u73fe\u968e\u6bb5\u8f03\u9069\u5408\u5148\u7406\u89e3\u65b9\u6cd5\u8207\u770b\u793a\u7bc4<\/li>\n<\/ul>\n\n\n\n<p class=\"wp-block-paragraph\">\u6700\u53d7\u7528\u7684\u6703\u662f\u505a Robotic\u3001teleoperation\u3001\u6a21\u4eff\u5b78\u7fd2\u8207\u6a5f\u68b0\u4eba\u6578\u64da\u6536\u96c6\u7684\u4eba\u3002\u6027\u80fd\u65b9\u9762\uff0c\u9801\u9762\u4ee5\u591a\u500b autonomous policy \u793a\u7bc4\u5f37\u8abf\u9ad8\u6210\u529f\u7387\u8207\u6297\u5e72\u64fe\u80fd\u529b\uff0c\u4ea6\u6709\u8207 UMI\u3001No-torque \u8a2d\u5b9a\u7684\u6bd4\u8f03\uff0c\u4f46\u82e5\u8981\u5224\u65b7\u5b8c\u6574\u6307\u6a19\u3001\u6210\u672c\u7d30\u7bc0\u8207\u8a55\u6e2c\u65b9\u5f0f\uff0c\u4ecd\u9700\u56de\u5230\u8ad6\u6587\u539f\u6587\u6838\u5be6\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>\u9805\u76ee\u4e3b\u9801\uff1a<\/strong> <a href=\"https:\/\/ume-exo.github.io\/\" rel=\"noopener noreferrer\">https:\/\/ume-exo.github.io\/<\/a><\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><strong>Paper\uff1a<\/strong> <a href=\"https:\/\/arxiv.org\/pdf\/2606.14218\" rel=\"noopener noreferrer\">https:\/\/arxiv.org\/pdf\/2606.14218<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>UME 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