ART-Glove: Articulated Tactile Glove for Contact-Grounded Dexterous Interaction Capture
2026-06-15 • Robotics
Robotics
AI summaryⓘ
The authors created ART-Glove, a special glove that can track detailed finger and hand movements while also sensing touch. It uses rigid surfaces and joint sensors to closely follow how a human hand moves and records touch information with many tiny sensors. This glove captures data quickly and precisely, helping to record how humans manipulate objects with their hands. The authors tested it to show it keeps natural hand movement while collecting useful touch and movement data for teaching robots.
tactile glovedexterous manipulationjoint sensingpiezoresistive tactile sensingdegrees of freedomencoder sensorscontact geometryrobot learninghand biomechanics
Authors
Changyi Lin, Ding Zhao
Abstract
We present ART-Glove, an articulated tactile glove designed to capture contact-grounded dexterous demonstrations while preserving human dexterity. ART-Glove makes hand-side contact geometry explicit with 16 rigid functional surfaces covering the fingers, thumb, and palm. Twenty-two anatomically aligned joints connect these surfaces and allow them to follow human hand motion during dexterous manipulation. Encoder-based sensing tracks surface motion, while dense piezoresistive tactile sensing records contact over the same surfaces. The complete system captures synchronized 22-DoF joint measurements and 2048-taxel tactile measurements at 120 Hz. We evaluate ART-Glove across experiments on motion freedom, joint sensing, tactile sensing, and contact-rich interaction capture, demonstrating its ability to preserve human dexterity while recording contact-grounded information that can support downstream dexterous robot learning.