Wuji Glove – Tactile Data Collection & Motion Tracking Glove for Robot Teleoperation

Product Overview Core Function Specification Output Tactile Sensing 24 × 31 pressure sensor matrix with 526 active sensing points 120 FPS, normalized pressure values from 0–1 Pose Tracking 5 EMF tracking modules 120 Hz, finger 3D position and pose IMU 800 Hz high-frequency sampling Acceleration and angular velocity Technical Specifications Glove Parameters Category Parameter Specification Dimensions & Weight Glove Size (L × W) 215 × 195 mm Thickness (Fabric / With Structure) 6.55 mm / 35 mm Total Length (With Cable) 340 mm Glove Net Weight 67.5 g Total Weight (With Cable) 192.6 g Tactile Sensor Sensor Type Pressure Sensor Matrix Array Resolution 24 × 31 matrix with 526 active sensing points Output Rate 120 FPS Pressure Range 0–20 N Pressure Resolution 0.1 N Spatial Resolution 4 mm Coverage Full palmar side Repeatability ±6% Press / Flex Life 100,000+ cycles Spatial Tracking EMF Modules 5 EMF modules, 6 DoF each Position Accuracy ≤ 2 mm RMS Orientation Accuracy < 5° RMS IMU Count / Type 1 × 6-axis IMU on dorsum Output Rate 800 Hz Accelerometer Range ±16 g Gyroscope Range ±2000 °/s Power & Communication Power Supply USB Type-C, 5 V / 1 A Data Interface RJ45 via adapter, 100BASE-TX Glove Connector USB Type-C Environment Operating Temperature -5 to 40 °C Storage Temperature -10 to 70 °C Operating Humidity < 55% RH Storage Humidity < 80% RH EMF Tracking Specifications Category Parameter Specification EMF Sensor Output Rate 120 Hz Motion-to-Data Latency (Wired) ≤ 10 ms Hand Kinematics Sensor Distribution Thumb, index, middle, ring, and pinky fingertips Sensor Data 3-axis position + 3-axis rotation Joint Solving Real-time inverse kinematics with full-hand joint-angle solving Position Tracking External Tracker Mount External mechanical interface provided Optical Marker Mount External mechanical interface provided Environment & Reliability Interference Resistance Sensitive to metallic and ferromagnetic materials; maintain at least 3 cm clearance Reliability No mechanical wear on sensor body; no electromagnetic hysteresis Calibration Calibration Steps 6-step calibration Calibration Goal Optimized joint-angle accuracy for interaction and gesture recognition Optimization Targets Bone length, joint pose, and fingertip pose Product Components Component Description Glove Palm High-density tactile sensing array with more than 500 pressure sensing points across the palm. Captures real-time contact pressure and force distribution during object interaction and grasping. Glove Back Five fingertip EMF modules track hand and finger motion. Combined with hand-kinematics algorithms, the system calculates finger bending, finger spread, fingertip position, and overall hand pose. Data Acquisition Board Connects the glove sensors and EMF modules to the host system and provides device status indication through the integrated LED. LED Status Indicators Priority Color Pattern Status 0 Off Off Power off 15 Cyan Breathing, 4-second cycle Standby; waiting for host connection 20 Cyan Heartbeat Normal operation; data streaming 30 Green Fast flash ~50 Hz Fatal error: no available firmware 35 Green Solid Self-test / hardware initialization 40 Blue Fast flash 2 Hz Firmware update in progress 45 Yellow Very slow flash 0.5 Hz Host connected but not pulling data 50 Yellow Slow flash 1 Hz Non-critical warning 90 Red Slow flash 1 Hz General software error 95 Red Fast flash 2 Hz Ethernet disconnected 100 Red Solid Sensor hardware fault Included Accessories Accessory Description USB-C to USB-C Cable Connects the data acquisition board to the USB-C to Ethernet power adapter. USB-C to Ethernet Power Adapter Provides glove power and Ethernet communication. USB-A to USB-C Cable Used with the USB-C to Ethernet power adapter for system connection. Ethernet Cable Provides wired network communication through the USB-C to Ethernet power adapter. Software & SDK Item Wuji Studio Wuji SDK Type Desktop visualization tool Python and C SDK Core Capabilities Multi-device management, data visualization, and firmware upgrades Real-time tactile data, EMF pose data, IMU streams, and device connection management System Requirements Ubuntu 22+ Ubuntu 22+; Python SDK requires Python 3.10+