arXiv AI
Bench2Dex: Benchmarking Visuo-Tactile Bimanual Dexterous Manipulation Across Dexterous Hands
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Tactus: Tactile & Pose Sensing Glove for Natural Dexterity Data Collection
Tactus is a textile‑integrated glove that combines a thin, conformal 3D‑knit design with strategically placed capacitive tactile sensors and IMU‑fused pose tracking to capture natural human manipulation. It offers a calibrated, cross‑glove consistency pipeline and per‑session subject correction, achieving a minimum detectable force of 0.59 N and fingertip pose error of 11.0 mm even under heavy occlusion. The authors benchmark Tactus against two commercial gloves, presenting the first quantitative cross‑platform evaluation of tactile force regression and hand pose estimation.