DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove

Han Zhang, Songbo Hu, Zhecheng Yuan, Huazhe Xu

Keywords: dexterous teleoperation, haptic force feedback, low-cost hardware

Abstract:

Dexterous hand teleoperation plays a pivotal role in enabling robots to
achieve human-level manipulation dexterity. However, current teleoperation
systems often rely on expensive equipment and lack multi-modal sensory
feedback, restricting human operators’ ability to perceive object
properties and perform complex manipulation tasks. To address these
limitations, we present DOGlove, a low-cost, precise, and haptic force
feedback glove system for teleoperation and manipulation. DOGlove can be
assembled in hours at a cost under 600 USD. It features a customized joint
structure for 21-DoF motion capture, a cable-driven torque transmission
mechanism for 5-DoF force feedback, and a linear resonate actuator for
5-DoF fingertip haptic feedback. Leveraging action and haptic+force
retargeting, DOGlove enables precise and immersive teleoperation of
dexterous robotic hands, achieving high success rates in complex,
contact-rich tasks. DOGlove's hardware and software are fully open-sourced
at https://do-glove.github.io/.

Submission Number: 29