{"paper":{"title":"TacPrint: A Wearable Fingertip Tactile Sensor for Human-to-Robot Contact Reproduction","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Boyue Zhang, Chaofan Zhang, Shaowei Cui, Shuo Wang, Xiangyin Bao, Xingyu Zhang, Yongxi Liu","submitted_at":"2026-07-31T10:04:10Z","abstract_excerpt":"Human-centric data collection is emerging as a significant paradigm for robot skill acquisition, but seamlessly integrating low-cost, scalable tactile sensing systems that capture fine-grained fingertip interactions without compromising natural operation remains a key challenge. This reduces the reliability of human-to-robot transfer in contact-rich tasks. In this work, we present TacPrint, a wearable fingertip tactile sensor, where protrusions on the inner surface of the silicone skin are aligned one-to-one with 24 capacitive taxels to enable localized capacitive responses. A real-to-sim-to-r"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2607.29231","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2607.29231/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}