Tactus: Tactile & Pose Sensing Glove for Natural Dexterity Data Collection
arXiv:2610.39076v1 Announce Type: cross Abstract: Collecting naturalistic human manipulation demonstrations with accurate contact force and hand pose is essential for robot dexterous manipulation policy and foundational world model learning - yet no existing wearable platform provides both calibrated fingertip force sensing and occlusion-resilient hand tracking in a form factor that preserves natural manipulation behavior. We present Tactus, a textile-integrated sensing glove that co-optimizes…