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Tactile data from rugged gloves are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. These custom gloves compliment the human like dexterity available in the Robonaut hands. Multiple versions of the gloves are discussed, showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous,doi:10.1109/robot.2004.1308071 dblp:conf/icra/MartinADPB04 fatcat:vkga4ysb3fgeflwpdr4dl2qsxu