# TeleFMG: A Wearable Force-Myography Device for Natural Teleoperation of Multi-finger Robotic Hands

arXiv: https://arxiv.org/abs/2308.13929 · HTML: https://mlsanity.com/paper/2308.13929/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Aug 2023.

## Built on by (most cited first, 1 of 1)

- [Grasp Like Humans: Learning Generalizable Multi-Fingered Grasping from Human Proprioceptive Sensorimotor Integration](https://mlsanity.com/paper/2509.08354/) (2025)

## Abstract (arXiv)

Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose TeleFMG, an approach for teleoperation of a multi-finger robotic hand through natural motions of the user's hand. By using a low-cost wearable Force-Myography (FMG) device, musculoskeletal activities on the user's forearm are mapped to hand poses which, in turn, are mimicked by a robotic hand. The mapping is performed by a spatio-temporal data-based model based on the Temporal Convolutional Network. The model considers spatial positions of the sensors on the forearm along with temporal dependencies of the FMG signals. A set of experiments show the ability of a teleoperator to control a multi-finger hand through intuitive and natural finger motion. A robot is shown to successfully mimic the user's hand in object grasping and gestures. Furthermore, transfer to a new user is evaluated while showing that fine-tuning with a limited amount of new data significantly improves accuracy.