Project Homunculus: Open Source Force Feedback Glove for Humanoid Teleoperation

Talk overview

This talk presents Project Homunculus, a low-cost, open-source force-feedback hand exoskeleton for humanoid teleoperation. It covers commodity hardware, 330 Hz joint sensing, 1.5 g micro servos, and an ESP32-based 500 kbaud protocol. The exoskeleton maps operator input to a Unitree G1 and returns robot-state feedback to the hand, while the SONIC whole-body controller maintains robot balance and safety. A live demonstration accompanies the hardware and firmware discussion.