Quickstart: Before You Begin

The Juqiao Tactile Glove is a pressure distribution sensor, not a joint angle tracker. This is an important distinction:

• What it measures: Contact pressure distribution across 64 sensing nodes covering the full palm, finger pads, and fingertips — at up to 200 Hz.
• What it does NOT measure: Finger joint angles or hand pose. It does not tell you where the fingers are in space.

This means the Juqiao Glove is not a standalone teleoperation input device for robot hand control. It is a tactile sensing layer that augments another input device (e.g., a motion capture system, VR controllers, or the Orca Hand's own compliance mode). Its primary value is in capturing contact force during demonstrations for policy training.

The Juqiao Glove connects via USB CDC serial — the same protocol as a standard serial port. There is no wireless version at present. The USB cable exits from the wrist cuff and connects directly to your host PC.

Latency

The high-frequency version achieves up to 200 Hz full-array sampling. Round-trip latency from contact to Python callback is approximately 5–8ms over USB, dominated by the OS USB polling interval. At 200 Hz, each sample is 5ms apart — this is sufficient for capturing contact onset transients, slip events, and grasp dynamics in real time.

Cable management for teleoperation

A 1.5 m USB cable gives enough range for tabletop manipulation. For reaching tasks above table height, use a USB extension cable or a USB hub mounted to the operator's wrist. The cable should be routed to not restrict wrist rotation — route it along the forearm and clip it to a sleeve.