The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation

Engineering notes

Engineering notes will be added by the Robot Papers editorial team.

Chinese explanation / 中文解读

中文解读待补充：本站会优先为 VLA、具身智能、人形机器人控制、机器人操作等高价值论文补充中文说明。

Original abstract

Humans rely on directional fingertip forces to probe and regulate contact during manipulation, yet most wearable haptic gloves render only vibration or single-axis force, leaving force direction ambiguous. Without directional cues, users must infer contact force from vision alone, often leading to over-pressing, inconsistent control, and reduced precision in robotic teleoperation. We present the N2D Haptic Glove, a multi-finger wearable device that renders planar flexion-extension fingertip forces using capstan-drive transmissions for high-transparency force feedback. Through benchtop validations and a user study involving haptic teleoperation of a robotic arm and hand, we demonstrate that compared to visual-only and single-axis haptic baselines, planar fingertip feedback significantly reduces contact force error during precise manipulation, improves trial-to-trial consistency, and enhances overall user experience in axial probing tasks. These findings establish the N2D Haptic Glove and directional finger-based haptics devices as a promising modality for contact-rich teleoperation, immersive virtual reality simulations, and robot learning from demonstrations. N2D Haptic Glove's hardware and software system will be fully open-sourced at \href{https://ucsdarclab.github.io/n2d-glove/}{this https URL}.

Links and sources

• Official / arXiv page
• PDF from original source

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