Interactive hand pose estimation using a stretch-sensing soft glove

Oliver Glauser, Shihao Wu, Daniele Panozzo, Otmar Hilliges, Olga Sorkine-Hornung

Research output: Contribution to journalArticlepeer-review


We propose a stretch-sensing soft glove to interactively capture hand poses with high accuracy and without requiring an external optical setup. We demonstrate how our device can be fabricated and calibrated at low cost, using simple tools available in most fabrication labs. To reconstruct the pose from the capacitive sensors embedded in the glove, we propose a deep network architecture that exploits the spatial layout of the sensor itself. The network is trained only once, using an inexpensive off-the-shelf hand pose reconstruction system to gather the training data. The per-user calibration is then performed on-the-fly using only the glove. The glove's capabilities are demonstrated in a series of ablative experiments, exploring different models and calibration methods. Comparing against commercial data gloves, we achieve a 35% improvement in reconstruction accuracy.

Original languageEnglish (US)
Article number41
JournalACM Transactions on Graphics
Issue number4
StatePublished - Jul 2019


  • Data glove
  • Hand tracking
  • Sensor array
  • Stretch-sensing

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design


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