Mar 6, 2026J/K move · Enter open · S save
Huayue Liang, Ruochong Li, Yaodong Yang, Long Zeng+2
Center for Artificial Intelligence and Robotics, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China · PKU-Psibot Joint Lab, Peking 100871, China · Department of Advanced Manufacturing, Shenzhen International Graduate School, Tsinghua University, Shenzhen 518055, China
High-quality teleoperated demonstrations are a primary bottleneck for imitation learning (IL) in dexterous manipulation. However, haptic feedback provides operators with real-time contact information, enabling real-time finger posture adjustments, and thereby improving demonstration quality. Existing dexterous teleoperation platforms typically omit haptic feedback and remain bulky and expensive. We introduce CDF-Glove, a lightweight and low cost cable-driven force-feedback glove. The real-time state is available for 20 finger degrees of freedom (DoF), of which 16 are directly sensed and 4 are passively coupled (inferred from kinematic constraints). We develop a kinematic model and control stack for the glove, and validate them across multiple robotic hands with diverse kinematics and DoF. The CDF-Glove achieves distal joint repeatability of 0.4 degrees, and delivers about 200 ms force feedback latency, yielding a 4x improvement in task success rate relative to no-feedback teleoperation. We collect two bimanual teleoperation datasets, on which we train and evaluate Diffusion Policy baselines. Compared to kinesthetic teaching, the policies trained in our teleoperated demonstrations increase the average success rate by 55% and reduce the mean completion time by approximately 15.2 seconds (a 47.2% relative reduction). In particular, the CDF-Glove costs approximately US$230. The code and designs are released as open source at https://cdfglove.github.io/.