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GIFT: Glove-Inferred Force Transfer: Force-Aware Human-to-Robot Skill Transfer from a Wearable Sensing Glove to a Robot Hand Without Tactile Sensors

arXiv · AI, language, vision and robotics · article · Sep 12, 2026 · UTC

Human-to-robot skill transfer from sensing gloves has so far relied on shared hardware: the same tactile glove worn by the demonstrator and the robot, or a learned alignment between two tactile sensors. We present GIFT (Glove-Inferred Force Transfer), a pipeline in which the interface between human and robot is a physical unit rather than a shared sensor: fingertip force is measured in newtons on the human side and estimated in newtons on the robot side. A wearable glove records finger flexion, calibrated fingertip force, and wrist orientation, while a head-mounted camera records the demonstra

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