The Tactile Glove is a fabric-based sensing glove equipped with up to 64 tactile sensing elements (taxels) measuring normal contact forces. Optionally, we can also measure hand posture using strain gauges. The acquisition electronics fits into a small housing at the wrist and connects via USB to the PC.

Some Tactile Gloves are fitted with pockets at the back to insert CyberGlove strain gauges to measure the hand posture. These CyberGlove sensors employ a separate acquisition system as well, connected via an external acquisition box + power supply, and hooked up to the PC via serial communication (or USB adapter if no COM port is available on the PC).

If using a USB2COM adapter, it will appear as /dev/ttyUSB*. Otherwise adapt the settings to the COM port device.

Software is primarily maintained for linux. But there is a Windows app available too. See corresponding folders for more details.

We use the URDF provided by the ROS package human_hand_decription to visualize a human hand in rviz.

• sr-teleop/cyberglove: is used to read a CyberGlove' strain gauge values from serial port, calibrating them, and sending joint values to ROS as a sensor_msgs/JointState.

• sr-teleop/sr_remapper converts CyberGlove joint angles to human-hand-model angles, based on a configurable mixing matrix.