2025/10/10 by Haofei Ma, Gao, Yuyang, Pai Zheng +2 · 1 citation
Engineering · Neuroscience · #FOS: Computer and information sciences #Robot Manipulation and Learning #Robotics (cs.RO) #Tactile and Sensory Interactions #Teleoperation and Haptic Systems
paper · pdf · doi:10.48550/arxiv.2510.09229
openalex publication_date 2025/10/10 · openalex created_date 2025/10/14 · openalex updated_date 2026/07/28
We present Glovity, a novel, low-cost wearable teleoperation system that integrates a spatial wrench (force-torque) feedback device with a haptic glove featuring fingertip Hall sensor calibration, enabling feedback-rich dexterous manipulation. Glovity addresses key challenges in contact-rich tasks by providing intuitive wrench and tactile feedback, while overcoming embodiment gaps through precise retargeting. User studies demonstrate significant improvements: wrench feedback boosts success rates in book-flipping tasks from 48% to 78% and reduces completion time by 25%, while fingertip calibration enhances thin-object grasping success significantly compared to commercial glove. Furthermore, incorporating wrench signals into imitation learning (via DP-R3M) achieves high success rate in novel contact-rich scenarios, such as adaptive page flipping and force-aware handovers. All hardware designs, software will be open-sourced. Project website: https://glovity.github.io/