# ReGlove: A Soft Pneumatic Glove for Activities of Daily Living Assistance via Wrist-Mounted Vision

arXiv: https://arxiv.org/abs/2512.11824 · HTML: https://mlsanity.com/paper/2512.11824/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 3 of its 18 references that are in the map.
- First posted on arXiv 1 Dec 2025.

## Builds on (most cited first, 3 of 3)

- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [ChatEMG: Synthetic Data Generation to Control a Robotic Hand Orthosis for Stroke](https://mlsanity.com/paper/2406.12123/) (2024)
- [Continuous Wrist Control on the Hannes Prosthesis: a Vision-based Shared Autonomy Framework](https://mlsanity.com/paper/2502.17265/) (2025)

## Abstract (arXiv)

This paper presents ReGlove, a system that converts low-cost commercial pneumatic rehabilitation gloves into vision-guided assistive orthoses. Chronic upper-limb impairment affects millions worldwide, yet existing assistive technologies remain prohibitively expensive or rely on unreliable biological signals. Our platform integrates a wrist-mounted camera with an edge-computing inference engine (Raspberry Pi 5) to enable context-aware grasping without requiring reliable muscle signals. By adapting real-time YOLO-based computer vision models, the system achieves 96.73% grasp classification accuracy with sub-40.00 millisecond end-to-end latency. Physical validation using standardized benchmarks shows 82.71% success on YCB object manipulation and reliable performance across 27 Activities of Daily Living (ADL) tasks. With a total cost under 250 and exclusively commercial components, ReGlove provides a technical foundation for accessible, vision-based upper-limb assistance that could benefit populations excluded from traditional EMG-controlled devices.