Designing a ROS interface for the Dexmo VR gloves

The Dexmo VR force-feedback glove is made to work with the Robot Operating System. Its communication protocol is reverse engineered from its SDK and documented. Based on this documentation, a driver component is written for ROS 2. After- wards, the glove is evaluated to ascertain its performance with re- spect to haptics applications. The results show underwhelming performance: force control is only possible below 1.5 N, and even then the maximum stiffness that can be rendered is approximately 0.5 N/mm.