# Fits like a Flex-Glove: Automatic Design of Personalized FPCB-Based Tactile Sensing Gloves

arXiv: https://arxiv.org/abs/2503.06349 · HTML: https://mlsanity.com/paper/2503.06349/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 8 Mar 2025.

## Built on by (most cited first, 6 of 6)

- [OPENTOUCH: Bringing Full-Hand Touch to Real-World Interaction](https://mlsanity.com/paper/2512.16842/) (2025)
- [OSMO: Open-Source Tactile Glove for Human-to-Robot Skill Transfer](https://mlsanity.com/paper/2512.08920/) (2025)
- [FlexiTac: A Low-Cost, Open-Source, Scalable Tactile Sensing Solution for Robotic Systems](https://mlsanity.com/paper/2604.28156/) (2026)
- [A Vision for Multisensory Intelligence: Sensing, Science, and Synergy](https://mlsanity.com/paper/2601.04563/) (2026)
- [SoTa: Soft Tactile Skins for Dexterous Manipulation](https://mlsanity.com/paper/2610.02338/) (2026)
- [TACROSS: An Efficient and Low-Cost Scalable Human Touch System Across Heterogeneous Tactile Sensors for Dexterous Robot Learning](https://mlsanity.com/paper/2610.11945/) (2026)

## Abstract (arXiv)

Resistive tactile sensing gloves have captured the interest of researchers spanning diverse domains, such as robotics, healthcare, and human-computer interaction. However, existing fabrication methods often require labor-intensive assembly or costly equipment, limiting accessibility. Leveraging flexible printed circuit board (FPCB) technology, we present an automated pipeline for generating resistive tactile sensing glove design files solely from a simple hand photo on legal-size paper, which can be readily supplied to commercial board houses for manufacturing. Our method enables cost-effective, accessible production at under 130 per glove with sensor assembly times under 15 minutes. Sensor performance was characterized under varying pressure loads, and a preliminary user evaluation showcases four unique automatically manufactured designs, evaluated for their reliability and comfort.