Tactile Sensing & Dexterous Manipulation Shelf
Annotated research paper shelf covering tactile gloves, wearable sensing rigs, datasets, and human-to-robot dexterous transfer.
Tactile Sensing & Dexterous Manipulation Shelf
Gloves, wearable sensing rigs and datasets that capture how human hands touch and move : and how that data transfers to robot hands.
TactiDex: A Real-World Tactile-Guided Benchmark for Human-Like Dexterous Manipulation
A benchmark that pushes human-to-robot dexterous transfer past kinematic mimicry: whole-hand tactile signals aligned with hand-object interaction data.
LaST-HD: Learning Latent Physical Reasoning from Scalable Human Data for Robot Manipulation
Instead of retargeting human demos geometrically, LaST-HD trains an action-conditioned world model on unpaired human and robot trajectories.
ART-Glove: Articulated Tactile Glove for Contact-Grounded Dexterous Interaction Capture
A glove built from 16 rigid functional surfaces capturing 22-DoF surface motion and 2048 taxels of tactile contact.
T-800: An 800 Hz Data Glove for Precise Hand Gesture Tracking
Eighteen IMUs and mechanical stress isolation give full-hand tracking at 800 Hz to capture real motion energy above 100 Hz.
DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation
A passive perioperation exoskeleton with whole-hand tactile sensing for contact-rich, long-horizon bimanual demonstrations.
HUMOTO: A 4D Dataset of Mocap Human Object Interactions
Mocap human-object interaction sequences with detailed hands manipulating objects paired with natural-language scripts.
DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove
Open-source glove with 21-DoF motion capture and 5-DoF haptic force feedback for blind dexterous teleoperation.
DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
Portable hand-mocap rig paired with DexIL to retarget wild human manipulation data to robot embodiments.
ActionSense: A Multimodal Dataset and Recording Framework for Human Activities
Full wearable sensor suite capturing eye tracking, forearm EMG, 17-IMU tracking, and tactile gloves for daily kitchen tasks.
Interactive Hand Pose Estimation using a Stretch-Sensing Soft Glove
Capacitive stretch-sensor array soft glove with deep neural network reconstruction of hand pose.