We present Glovity, a novel, low-cost wearable teleoperation system that integrates a spatial wrench (force-torque) feedback device with a haptic glove featuring fingertip Hall sensor calibration, enabling feedback-rich dexterous manipulation. Glovity addresses key challenges in contact-rich tasks by providing intuitive wrench and tactile feedback, while overcoming embodiment gaps through precise retargeting. User studies demonstrate significant improvements: wrench feedback boosts success rates in book-flipping tasks from 48% to 78% and reduces completion time by 25%, while fingertip calibration enhances thin-object grasping success significantly compared to commercial glove. Furthermore, incorporating wrench signals into imitation learning (via DP-R3M) achieves high success rate in novel contact-rich scenarios, such as adaptive page flipping and force-aware handovers. All hardware designs, software will be open-sourced. Project website: https://glovity.github.io/

翻译：本文提出Glovity，一种新颖的低成本可穿戴遥操作系统，该系统集成了空间力（力-力矩）反馈设备与配备指尖霍尔传感器标定功能的触觉手套，实现了具备丰富反馈信息的灵巧操作。Glovity通过提供直观的力反馈与触觉反馈，并借助精确的重定向技术克服本体映射差异，有效解决了接触密集型任务中的关键挑战。用户研究表明系统带来显著性能提升：在书本翻页任务中，力反馈将成功率从48%提升至78%，任务完成时间减少25%；同时指尖标定技术相比商用触觉手套显著提高了薄型物体抓取成功率。此外，将力信号融入模仿学习（通过DP-R3M框架）可在新型接触密集型场景（如自适应页面翻转与力感知物体交接）中实现高成功率。所有硬件设计与软件均将开源。项目网站：https://glovity.github.io/