We present ART-Glove, an articulated tactile glove designed to capture contact-grounded dexterous demonstrations while preserving human dexterity. ART-Glove makes hand-side contact geometry explicit with 16 rigid functional surfaces covering the fingers, thumb, and palm. Twenty-two anatomically aligned joints connect these surfaces and allow them to follow human hand motion during dexterous manipulation. Encoder-based sensing tracks surface motion, while dense piezoresistive tactile sensing records contact over the same surfaces. The complete system captures synchronized 22-DoF joint measurements and 2048-taxel tactile measurements at 120 Hz. We evaluate ART-Glove across experiments on motion freedom, joint sensing, tactile sensing, and contact-rich interaction capture, demonstrating its ability to preserve human dexterity while recording contact-grounded information that can support downstream dexterous robot learning.

翻译：我们提出ART-Glove，一种旨在捕捉接触接地灵巧演示同时保留人类灵巧性的铰接式触觉手套。ART-Glove通过覆盖手指、拇指和手掌的16个刚性功能表面，将手侧接触几何形状显式化。22个解剖学对齐的关节连接这些表面，使其在灵巧操作过程中跟随人手运动。基于编码器的传感追踪表面运动，而密集的压阻式触觉传感记录同一表面的接触信息。完整系统以120 Hz捕获同步的22自由度关节测量和2048触点的触觉测量。我们通过运动自由度、关节传感、触觉传感及接触丰富交互捕捉等实验评估ART-Glove，证明其在记录可支持下游灵巧机器人学习的接触接地信息的同时，保留人类灵巧性的能力。