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Mounting an HTC VIVE Tracker 3.0 on Wuji Glove

CombinationWuji GloveHTC VIVE Tracker 3.0

The glove captures finger shape and the tracker gives the hand position in space. Mounting options, parts, steps and frame alignment, with diagrams.

What you need

Make sure you have everything before you start.

BuyHTC VIVE Tracker 3.0with dongle & USB cable
BuySteamVR Base Station 2.0 (2 recommended)
3D print (files provided)Mounting block & base
Buy1/4" bolt × 1 (3/8")plastic is better for accuracy
BuyM3 × 6 mm bolts × 4
IncludedWuji Glove (mounting plate)
You provide3D printer (PLA / PETG)
Free downloadSteamVR

Steps

  1. 1

    Print the parts

    Pin facing up, with supports.

  2. 2

    Lift the cover

    Under the soft cover: four M3 holes.

  3. 3

    Screw on the base

    Four M3 bolts, diagonal order.

  4. 4

    Attach the tracker

    1/4" bolt, align the pin.

  5. Mount hereEMF transmitter (back of hand)mounting plate under the soft cover↓ data board (forearm)
    5

    Keep the dome clear

    Make sure fingers do not cover the sensor dome.

  6. GloveEMF
    →
    PCSDK + SteamVR
    →
    Hand poseworld
    6

    Pair and verify

    Pair in SteamVR, check fingers in Wuji Studio.

!

Keep metal ≥ 3 cm from the fingertip receivers. Compare fingertip accuracy before and after mounting; use a plastic bolt if needed.

✓

DoneDone when the tracker is tracked and finger data is normal.

Wrist option

A. Back of hand (mounting block)B. Wrist (wrist strap)・Moves rigidly with the hand: most accurate・Offset to the glove is known from CAD・Requires printing the mount・Works right away with an off-the-shelf strap・Stays ≥ 3 cm from the EMF receivers・Wrist offset must be calibrated each timeEMF receiversEMF transmitterVIVE Tracker3 cm metal keep-out
Two mounting positions (right hand, viewed from the back)

Aligning frames

SteamVR base stations1.0 / 2.0VIVE Tracker 3.0wireless (dongle)Wuji GloveEMF & tactile (Ethernet)PCSteamVR / OpenVR + Wuji SDKHand pose in worldwrist pose + 21 hand jointstracker posefingers in wrist frameT_world←wrist = T_world←tracker · T_tracker←emf_tx · T_emf_tx←wristT_tracker←emf_tx: fixed by the mount (CAD or calibration) / T_emf_tx←wrist: SDK tf_static
Combining frames: the tracker gives the wrist position in space, the glove gives the finger shape

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