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 |