THESE 60 DOLLARS 3D-PRINTED GLOVES LET YOU ACTUALLY FEEL OBJECTS IN VR
A string runs from each fingertip and locks when you close your hand on a virtual object, so your fingers stop where the surface would be.
by Lucas VRTech
DisplaysRobotics
Built withESP32Arduino3D printing
- difficulty
- ●●●●○
- time
- a weekend-plus
- license
- MIT
- repo
- repo ACTIVE2,386 stars
●●●●○ · a weekend-plus · MIT · 2,386 stars · repo ACTIVE
WHAT YOU’LL NEED
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COMPAREE VERDICT
LucidGloves are among the most accessible haptic VR gloves you can build at home. Each finger pulls a string off a spring-loaded spool; a potentiometer reads how far the finger is bent, and on Prototype 4 a small servo per finger blocks the spool when you close your hand on a virtual object, so your fingers stop where the surface would be. The firmware runs on an Arduino Nano or ESP32 (with Bluetooth), SteamVR support comes from the free OpenGloves driver, and the wiki covers parts lists, printing, wiring and troubleshooting. Creator Lucas VRTech aims for about 60 dollars per pair if you shop around. The hard part is fit and tuning: guide rings and end caps must be resized to your fingers, the strings need the right tension, and the force-feedback parts of Prototype 4 are still marked experimental. MIT-licensed and backed by an active Discord - if you are patient, it is a cheap way into finger tracking and force feedback.
IN THE REPO
GOOD TO KNOW
- —MIT licence - commercial use allowed with the licence notice.
- —Full build wiki with STLs, BOM, wiring diagrams, and firmware flashing steps.
- —STL files for Prototypes 3, 3.1, 4 and 4.1 are in the repo; Prototype 4 (with force feedback) is marked experimental.
- —No pre-assembled option; this is a from-scratch build requiring soldering and 3D printing.
- —SteamVR support comes from the separate OpenGloves driver (free on Steam); finger tracking needs per-finger calibration once assembled.
- —The repo has 2400 stars and active community discussion, but assembly tolerance is tight and the servo tuning takes trial runs.
Parts to buy
7 itemsFrom our check of the build. Exact quantities and part numbers are in the creator’s BOM.
Can I build this?
Build at your own risk. Projects involve tools, electronics and sometimes mains voltage — follow the creator’s safety notes.
Videos
The creator's official Prototype 4/4.1 building tutorial.
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Start here
Navigation into the creator’s own docs — we don’t rewrite the guide, we route you to the source.
- 1.Read the wiki front-to-back before ordering parts (The wiki covers Prototype 3/3.1 (finger tracking), Prototype 4/4.1 (tracking plus force feedback, marked experimental) and a Prototype 5 beta. Pick one and use its own parts list.)
- 2.Order parts from the BOM(Servos, ESP32, and sensors are the long-lead items. Fishing line and velcro are available locally.)
- 3.Print the glove parts in PLA at 0.2mm layer height(Dimensional accuracy matters — test-fit the finger segments before printing the full set.)
- 4.Assemble one glove, flash firmware, and test SteamVR tracking before building the second(Proving the first glove works saves you from debugging two at once.)
Resources
Documentation, files and community threads for this build — we link straight to the original sources and never rehost the creator’s files.
KNOWN ISSUES
- Buying the wrong servos - you need 9 g servos with a 180-degree range. MG90S are recommended for durability; SG90 work as a cheaper alternative but wear faster.
- Ignoring the printing guide - Prototype 4 parts are designed to be printed flat in specific orientations (0.2 mm layers, 10-20% infill), and the spools and tensioners need a smooth finish to run freely.
- Skipping the per-finger calibration step in the firmware — the servos need individual tuning or the haptic feedback feels inconsistent across fingers.
- Stringing the glove too tight or too loose on the first try — expect to restring at least once after testing in VR.
- Assuming the parts will fit your hand as-is - the guide rings and end caps need to be resized to your fingers, so do a test print first.
- Not testing the SteamVR driver setup on a simple scene before full assembly — driver issues are easier to debug without the glove on your hand.
Do I need a specific VR headset?
Any SteamVR headset works via the OpenGloves driver, but the gloves only track your fingers — hand position comes from your existing controllers or trackers mounted on the glove (Quest 2 and Vive mounts are provided).
Can I use these without a VR headset?
No — the gloves are designed exclusively for VR. They require SteamVR to map finger positions to virtual objects.
How does the haptic feedback actually feel?
The string locks your finger in place when you close your hand on a virtual object. It feels like hitting a hard stop, not a vibration. The sensation is convincing for solid objects but does not simulate texture or weight.
What is the difference between Prototype 3 and Prototype 4?
Prototype 4 adds servo force feedback (haptic spools) and controller mounts; Prototype 3/3.1 is finger tracking only. The README marks Prototype 4 as experimental, and each has its own build tutorial video.
Can I sell gloves I build from this design?
Yes - the repo is MIT-licensed, which allows commercial use as long as you keep the copyright and licence notice.
Community builds
No community builds yet — be the first, we feature the best ones.
Discussion1
FROM THE COMPAREE TEAM
About 2,400 stars, MIT-licensed, and Hackster put the parts cost at around 60 dollars. What VR application would you build these for first?
Lucas VRTech
Lucas VRTech (LucidVR) built LucidGloves to bring finger tracking and force feedback to VR hobbyists for around 60 dollars a pair, published the firmware and STLs under MIT, and also maintains the OpenGloves SteamVR driver.
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DISCLAIMER
- Comparee is not the author of the projects featured here. All rights to each project belong to its creator — every page links to the original source, and we never host creators’ files.
- Information is provided without warranty and may become outdated as projects evolve. Prices are indicative bands only — always check the creator’s parts list for current costs.
- Building and operating any project is at your own responsibility. Protective equipment, safe workshop practice and compliance with local regulations are the builder’s responsibility.
CompareeTEAM2mo agoedited
Practical notes from our verification: the repo contains the Arduino firmware and STL files for Prototypes 3 through 4, the wiki has the parts lists, printing guides, firmware setup and a firmware troubleshooting guide, and there are YouTube build tutorials for both Prototype 3/3.1 and 4/4.1. Note that the README marks the Prototype 4 force-feedback parts as experimental. The gloves work with SteamVR through the OpenGloves driver, which is free on Steam. Tested boards are the Arduino Nano and the ESP32, and the guide rings and end caps need to be resized to your fingers, so budget time for a test print before committing to the full set. For help, the LucidVR Discord is linked from the README. Correction (4 October 2026): we re-checked this page line by line against the project's own repository, documentation and videos, and fixed errors in earlier versions.