Appendix

Operations and Appendix

This page defines the terms that appear across the Wuji Glove documentation, covering EMF spatial tracking, calibration, and tactile data.

Glossary

Term	Description
EMF spatial tracking	The tracking method built from the back-of-hand transmitter coil and five fingertip receiver coils, which outputs five finger poses with confidence values
Confidence	How reliable an EMF fix is, from 0.0 to 1.0, where a value below 0.9 counts as untrustworthy
Hand model calibration	A guided motion capture that produces a URDF matching the wearer’s hand, stored per SDK user and hand side
Tactile calibration	A recorded set of hand motions that trains a contact model, stored per SDK user and glove serial number
SDK user	The isolation unit for calibration output and local data. The default user neither saves nor loads calibration output
Invalid point	A non-sensing position among the 744 positions of the 24×31 tactile matrix, fixed at `-1.0`. The matrix carries 526 valid points
Tactile zones (`tactile_zones`)	Pressure data that `tactile` aggregates into six zones covering the palm and the five fingers
Contact detection (`tactile_binary`)	A binary contact map where `1.0` means contact, `0.0` means no contact, and `-1.0` marks an invalid point
Contact residual (`tactile_residual`)	A signed per-pixel residual. A positive value means pressure above the baseline, around `0` means no contact, and a negative value means pressure below the baseline
`tf_static`	Fixed frame transforms published at 1 Hz, linking the wrist frame to the transmitter coil frame and the palm IMU frame
`tf`	Dynamic transforms driven by the back-of-hand IMU, publishing `waist → {l/r}_wrist`
Offline pipeline	The offline flow that saves raw data during capture and recomputes post-processed products afterward, with results identical to real-time computation
Data acquisition board	The board strapped to the forearm that gathers the cabling from the EMF modules, with an indicator light for the glove’s current state