GIFT: Glove-Inferred Force Transfer: Force-Aware Human-to-Robot Skill Transfer from a Wearable Sensing Glove to a Robot Hand Without Tactile Sensors

Human-to-robot skill transfer from sensing gloves has so far relied on shared hardware: the same tactile glove worn by the demonstrator and the robot, or a learned alignment between two tactile sensors. We present GIFT (Glove-Inferred Force Transfer), a pipeline in which the interface between human