Contact locations and interaction forces are critical for contact-rich robot manipulation but are often ambiguous from vision alone.
Measuring them on robots requires specialized tactile hardware and platform-specific data collection, which keeps robot tactile data scarce.
Human egocentric video is far easier to scale but lacks touch.
Recent predictors trained on egocentric recordings paired with tactile-glove measurements can predict this missing signal from video alone.
These predictors, however, remain confined to human hands, which differ from robot hands in appearance and tactile layout.
We present Ego2Contact, which learns a visual-tactile prior from human interactions and transfers it to robot hands.
Its predictor fuses temporal scene context with hand-local visual features to infer bimanual tactile fields from the RGB video.
Anatomical region correspondences align varying robot tactile layouts with the predictor's canonical grid, turning robot measurements into fine-tuning targets and predictions into policy inputs.
Ego2Contact outperforms prior tactile predictors on human data, including unseen objects, and on robot data after adaptation.
The adapted predictor provides tactile inputs for both simulated reinforcement learning and real-robot policy post-training.
In simulation, policies using predicted touch outperform non-tactile baselines and recover part of the benefit of ground-truth tactile sensing.
These results show that human-learned tactile priors can supply touch when direct tactile sensing is limited.
