## 1 Introduction
\begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Glove Model** & \begin{tabular}{c} **Manufacturer/** \\ **Reference** \\ \end{tabular} & **Kinematic DoFs** & **Pressure Sensors** & \begin{tabular}{c} **Commercally** \\ **Available** \\ \end{tabular} \\ \hline \multirow{2}{*}{CaptoGlove} & CaptoGlove LLC, & \multirow{2}{*}{10 (IP1\_F, MCP1\_F, PIP2\_5,_F, PIP2-5)} & \multirow{2}{*}{1 (thumb fingertip)} & \multirow{2}{*}{Yes} \\  & Shalimar, FL, USA & & & \\ \hline \multirow{2}{*}{VMG30} & Virtual Motion Labs, & \multirow{2}{*}{\begin{tabular}{c} 16 (CMC1\_F, CMC1\_A, IP1\_F, PIP2-5,_F, \\ MCP1-5\_F, MCP2-4\_A, CMC5\_F) \\ \end{tabular} } & \multirow{2}{*}{5 (fingertips)} & \multirow{2}{*}{Yes} \\  & Dallas, TX, USA & & & \\ \hline \multirow{2}{*}{VMG35} & Virtual Motion Labs & \multirow{2}{*}{\begin{tabular}{c} 16 (CMC1\_F, CMC1\_A, IP1\_F, PIP2-5,_F, \\ MCP1-5\_F, MCP2-4\_A, CMC5\_F) \\ \end{tabular} } & \multirow{2}{*}{5 (fingertips)} & \multirow{2}{*}{Yes} \\  & & & & \\ \hline \multirow{2}{*}{SenGlove} & [10] & \multirow{2}{*}{\begin{tabular}{c} 15 (CMC1\_F, CMC1\_A, IP1\_F, PIP2-5,_F, \\ MCP1-5\_F, MCP2-4\_A, CMC5\_F) \\ \end{tabular} } & \multirow{2}{*}{5 (fingertips)} & \multirow{2}{*}{No} \\  & & & & \\ \hline \multirow{2}{*}{Smart Glove} & [11] & \multirow{2}{*}{\begin{tabular}{c} 5 (IP1\_F, PIP2-5\_F) \\ \end{tabular} } & \multirow{2}{*}{5 (fingertips)} & \multirow{2}{*}{No} \\  & & & & \\ \hline \multirow{2}{*}{Smart Glove} & [12] & \multirow{2}{*}{\begin{tabular}{c} 1 (IP1\_F) \\ \end{tabular} } & \multirow{2}{*}{1 (thumb fingertip)} & \multirow{2}{*}{No} \\  & & & & \\ \hline \multirow{2}{*}{Smart Glove} & [13] & \multirow{2}{*}{\
\begin{tabular}{c} 5 (IP1\_F, PIP2-5\_F) \\ \end{tabular} } & \multirow{2}{*}{1 (palm)} & \multirow{2}{*}{No} \\  & & & & \\ \hline \multirow{2}{*}{Smart Glove} & [14] & \multirow{2}{*}{
\begin{tabular}{c} 20 (CMC1\_F, CMC1\_A, IP1\_F, \\ PIP2-5,_F, DIP2-5,_F, MCP1-5\_F, \\ MCP2-4\_A, CMC5\_F) \\ \end{tabular} } & \multirow{2}{*}{No} \\  & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 1: Kinematic data gloves with pressure sensors, along with their sensor characteristics and commercial availability. Joints: IP1 for thumb interphalangeal joint, PIP for proximal interphalangeal joints of fingers, MCP for metacarpophalangeal joints, CMC1 for carpometacarpal joint of thumb, CMC5 for palmar arch resulting from flexion/extension of carpometacarpal joints of ring and little fingers. Nomenclature:_F for flexion,_A for abduction; 1 to 5, digits from thumb to little. One of the commercially available gloves listed in Table 1 that presented the best characteristics regarding the number of DoFs for kinematics recording and the number of pressure sensors was VMG30, which was produced by Virtual Motion Labs. For this reason, a VMG30 glove (Figure 1) was acquired by our research group but customized with five extra pressure sensors on the palm and the proximal phalanx of the middle finger. The customization of the glove and the location of the five extra sensors was motivated by the results obtained in previous studies [15], where the study of hand contact pressure during 21 activities of daily living revealed high implication of specific palm spots. In fact, one of the main purposes of customizing the VMG30 glove was initially analyzing hand kinematics and pressure distribution in a combined way. Figure 1 shows the location of all the sensors, with the additional ones (s6 to s10) marked in red. The main body of this glove is composed of elastic fabric, but the fit is not as optimal as that of the CyberGlove due to the presence of bulky embedded wiring and the glove tailoring (see Figure 2). The glove is fixed to the wrist with a Velcro strap, and the fingertips are covered. In this glove, the wiring of the gauges is positioned on the backside of the hand, while the pressure sensors and their wiring are located in the palm and fingers.