arXiv: https://arxiv.org/abs/2603.28542 | cs.RO | 2026-03-30
Abstract
TAG (Tactile feedback Array Glove) addresses two challenges in robotic teleoperation: inaccurate hand-to-robot motion mapping and insufficient tactile feedback. The system combines precise 21-DoF joint tracking with high-resolution tactile feedback using Electro-Osmotic Pump (EOP) technology, enabling operators to directly feel robotic contact forces during teleoperation. Cost is under $500.
Hardware Specifications
Motion Capture
- 21 DoF distributed across anatomical joints
- Non-contact magnetic encoders (MLX90393 magnetometers)
- Maximum tracking error: ±0.35°; long-term drift: ~0.02°
- EMI resilience: 0.24° deviation (vs. commercial competitor’s 5.69°)
Tactile Feedback Module
- Electro-Osmotic Pump (EOP) technology
- 32 actuators per fingertip in 2 cm² form factor
- Operating voltage: 200V (reduced from typical 250V)
- Two mapping modes:
- Shape Mode: preserves contact geometry
- Pressure Mode: converts force magnitude to contact area
Cost
Under 5,000+ for commercial alternatives)
Data Collection & Key Results
User Study
- Contact shape discrimination: 100% (single-point), 92% (complex geometries)
- Direction discrimination: 100%
Teleoperation Tasks
- Multimodal lamp control: 80–100% success across stages
- Filament pinching: 87% with TAG vs. 33% without feedback
- Spring compression (blindfolded): 87% with TAG vs. 13% baseline
Imitation Learning
Policies trained on TAG-collected demonstrations: 100% and 87% success on two dexterous manipulation tasks.
Sensor Technology
Magnetic tracking uses orthogonal magnetic flux density components to calculate joint angles analytically. Temperature-induced errors cancelled via ratiometric calculation. Tactile array uses glass fiber membranes between PCBs with 29.3% conductive-to-surface area ratio (via dimensions: 0.25/0.4 mm).