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arXiv · 2510.09229

Glovity: Learning Dexterous Contact-Rich Manipulation via Spatial Wrench Feedback Teleoperation System

Yuyang Gao·Haofei Ma·Pai Zheng
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Abstract

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/

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Yuyang Gao, Haofei Ma, Pai Zheng. 2025-10-10. Glovity: Learning Dexterous Contact-Rich Manipulation via Spatial Wrench Feedback Teleoperation System. https://arxiv.org/abs/2510.09229

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