# TacCap: A Wearable FBG-Based Tactile Sensor for Seamless Human-to-Robot Skill Transfer

arXiv: https://arxiv.org/abs/2503.01789 · HTML: https://mlsanity.com/paper/2503.01789/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Mar 2025.

## Built on by (most cited first, 2 of 2)

- [DEXOP: A Device for Robotic Transfer of Dexterous Human Manipulation](https://mlsanity.com/paper/2509.04441/) (2025)
- [N0-Foundation: Towards the Age of Tactile Intelligence](https://mlsanity.com/paper/2608.29601/) (2026)

## Abstract (arXiv)

Tactile sensing is essential for dexterous manipulation, yet large-scale human demonstration datasets lack tactile feedback, limiting their effectiveness in skill transfer to robots. To address this, we introduce TacCap, a wearable Fiber Bragg Grating (FBG)-based tactile sensor designed for seamless human-to-robot transfer. TacCap is lightweight, durable, and immune to electromagnetic interference, making it ideal for real-world data collection. We detail its design and fabrication, evaluate its sensitivity, repeatability, and cross-sensor consistency, and assess its effectiveness through grasp stability prediction and ablation studies. Our results demonstrate that TacCap enables transferable tactile data collection, bridging the gap between human demonstrations and robotic execution. To support further research and development, we open-source our hardware design and software.