A wearable article comprising a knitted fabric formed in the shape of a glove. A force sensing element coupled to the fabric, the force sensing element comprising a resistive sensing system and a fluidic sensing system comprising one or more soft tubes coupled to a surface of the wearable glove wherein the resistive and fluid sensing systems correspond to first and second different sensor modalities which are physically decoupled. Control circuitry is coupled to receive signals from both the resistive sensing system and the fluidic sensing system and to combine resistive and fluidic sensing system signals provided thereto to perform at least one of: pose estimation, environment sensing, human state sensing, and static and dynamic task identification.