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October 5, 2025Open Access

Prometheus: Universal, Open-Source Mocap-Based Teleoperation System with Force Feedback for Dataset Collection in Robot Learning

Key Points

The teleoperation system significantly enhances task success rates through force feedback mechanisms.
Using HTC Vive Trackers, the system supports real-time force data transmission for improved operator control.
It is designed with a UR3 robotic arm and a Robotiq gripper, ensuring affordability without sacrificing performance.
This solution facilitates large-scale imitation learning data collection, indicating a vital resource for robot learning.

Abstract

This paper presents a novel teleoperation system with force feedback, utilizing consumer-grade HTC Vive Trackers 2.0. The system integrates a custom-built controller, a UR3 robotic arm, and a Robotiq gripper equipped with custom-designed fingers to ensure uniform pressure distribution on an embedded force sensor. Real-time compression force data is transmitted to the controller, enabling operators to perceive the gripping force applied to objects. Experimental results demonstrate that the system enhances task success rates and provides a low-cost solution for large-scale imitation learning data collection without compromising affordability.

Prometheus: Universal, Open-Source Mocap-Based Teleoperation System with Force Feedback for Dataset Collection in Robot Learning

Key Points

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