A wearable glove that captures what the hand feels — contact onset, pressure evolution, and grip adjustments — at high rate and time-aligned to everything else in the episode.
What it captures
High-rate contact and pressure-aligned streams across the fingers and palm.
Per-channel calibration, so each signal has documented, trainable meaning.
Grasp phases and contact timing for contact-rich manipulation — not just 2D boxes in frame.
[SPEC: channel count · sample rate · sensing surface — drop in real numbers]
Why it matters
Pressure proxies and contact timing are defined so policy teams know exactly what each dimension means — and where it should, and shouldn't, be treated as ground-truth force.