Author

Eric Whitmire

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#artificial intelligence Preprint Oct 2026

Tactus: Tactile&Pose Sensing Glove for Natural Dexterity Data Collection

Tactus is presented, a textile-integrated sensing glove that co-optimizes three design pillars: a thin, conformal 3D-knit form factor, strategically placed capacitive tactile sensors at manipulation-relevant regions informed by empirical contact studies, and IMU-fused pose tracking that maintains accuracy through the h...

Li Guan, Rachael Granberry, Sahar A. Aseeri et al. · 0 citations

Preprint Oct 2026

Generative Neural Retargeting for Human-to-Robot Dexterous Manipulation

Human demonstrations are a scalable data source for learning dexterous manipulation, but the embodiment gap prevents human motion from being executed directly on robots. Inverse kinematics (IK) retargets human motion to robots efficiently but ignores dynamics, often producing infeasible motions. Reinforcement learning...

De-Chen Gao, Yue Yang, Ben Abbatematteo et al. · 0 citations