Teleoperation Hardware

DOGlove profile: an open-source glove with force feedback

A research glove that lets the operator feel what the robot hand touches, for under $600 in parts and a few hours of assembly.

By The editors · Updated · 2 min read

Contents
  1. What it does
  2. Published evidence
  3. Strengths and limits
  4. Pricing
  5. Questions to settle before building
  6. Sources
TypeOpen-source haptic glove
FoundedPublished in 2025
PricingPublished
Websitedo-glove.github.io

Commercial haptic gloves are sold by quote. DOGlove, from Han Zhang and colleagues and published at RSS 2025, was designed as the low-cost, open alternative⁠1.

Best for: Research teams that want finger capture with force feedback and are willing to build the glove themselves.

Not the right fit for: Teams that need a supported product, or many identical gloves for a shift of operators.

What it does

The glove uses a custom joint structure for 21-degree-of-freedom motion capture, a compact cable-driven mechanism for 5-degree-of-freedom force feedback, and a linear resonant actuator on each fingertip for 5 degrees of haptic feedback. The authors state it can be assembled in hours at a cost under 600 US dollars⁠2.

Published evidence

The authors deploy it with the LEAP hand in real-world tasks and test it with various robot hands in the MuJoCo simulator. The code is in a public repository⁠1. The figures are the authors’ own.

Strengths and limits

Strengths

  • The only option in this guide with a published price that gives the operator force feedback.
  • An open design with a public code repository.
  • Demonstrated on a real multi-fingered hand, the LEAP hand.

Limits

  • A research build with no vendor, warranty or sizing range.
  • Shown with one robot hand in the real world; other hands were tested in simulation.
  • Tracks the hand only; arm motion needs another device.

Choose another option if: You need a commercial glove with support (MANUS) or your robot has no fingers (a leader arm).

Pricing

Under $600 in parts per glove, as reported by the authors in February 2025.

Questions to settle before building

  • Who will build and maintain the gloves, and how many are needed?
  • Does our robot hand have a mapping, or will we write one?
  • How will wrist and arm position be tracked alongside the glove?
  • How will gloves be fitted to operators with different hand sizes?

See how DOGlove compares with the other options in the rig comparison table.

Sources

  1. DOGlove: dexterous manipulation with a low-cost open-source haptic force feedback glove. Zhang, Hu, Yuan and Xu (RSS 2025). Accessed 11 Nov 2026.
  2. DOGlove: Dexterous Manipulation with a Low-Cost Open-Source Haptic Force Feedback Glove. arXiv, 11 Feb 2025. Accessed 11 Nov 2026.

Further reading