A glove and sleeve human-machine interface system was developed for military and commercial use-cases, in which humans need to intuitively teleoperate or train robotic systems to perform dexterous manipulation tasks with high fidelity (e.g. tele-surgery, bomb disposal, or manufacturing assembly), or in which humans need to interact seamlessly with augmented or virtual reality environments (e.g. metaverse, virtual work, or gaming). Printed stretchable sensors on each of the glove fingers track the flexion of the wearer’s fingers, and are connected via printed stretchable traces to a digital converter chip on a flexible circuit board mounted on the glove hand, while inertial measurement unit sensors that are mounted on flex carrier boards track the motions of the hand, lower arm, and upper arm. Printed stretchable traces running the length of the sleeve carry power and data for the sensors, while USB-C cables connect the glove to the sleeve, and the sleeve to a backpack unit. Processes and materials include screen-printing and curing of stretchable conductor and encapsulant inks onto stretchable TPU substrates to fabricate the sensors and traces; lamination of these stretchable TPU substrates onto stretchable fabrics; and dispensing and curing of conductive and non-conductive stretchable adhesives to attach flexible circuit boards to the stretchable electronics and sensors. Thin pneumatic haptic muscles were fabricated by a fiber braiding and silicone coating process, and assembled onto the glove fingers to provide force feedback. The muscles are connected to the backpack unit via stretchable air tubes. The backpack unit provides electrical power, controls, communications, and pneumatic pressure. The developed finger flexion sensors showed high yield, sufficient sensitivity, low hysteresis, high strain limit (>100%), and low drift over 1,000 cycles of stretching to 40% strain. Screen-printed stretchable traces were developed with attention to trace width, serpentine geometry and number of layers of conductor, resulting in traces with electrical resistances that remained within specifications after 1,000 cycles of stretching to 40% strain. The final system can be donned and doffed as a regular garment and has sufficient performance, reliability and comfort for demonstration of control of a robotic arm and gripper for pick-and-place tasks.