First steps to teleoperation

Flex sensors, a RealSense T265 and a 3D-printed bracket on a glove. Cheap, smooth, and not scalable.

I built a simple teleoperation glove to control a robot gripper in real time.

Flex sensors sewn onto the fingers, linearly mapped to gripper width: bend more, it closes more.
A RealSense T265 tracking camera on a 3D-printed bracket stitched to the glove gives smooth 6D hand pose.

So I control both where the hand is and how far the gripper is open. It feels surprisingly natural.

The glove: flex sensors plus a T265 as the hand tracker.

Why it’s nice

It’s very cheap compared to motion capture or exoskeletons. A basic glove, a few flex sensors, one tracking camera and a printed mount. For quick demos or simple manipulation, it works quite well.

Why it doesn’t scale

Wobbly mount. The glove fabric is thin and soft, so the T265 wobbles and small shifts add tracking noise.
End-of-life hardware. The T265 is discontinued and I have one. No second hand, no humanoid hands, no multiple operators.

A nice low-cost prototype, but not a platform without rethinking the tracking hardware.

That rethink became the SenseGlove + Vive setup.