an exoskeleton glove mechanism with haptics feedback

As a force feedback user interface, a haptic glove mechanism should be user-friendly and effective in providing force feedback to the user's fingers. In terms of its user-friendly characteristics, it should be easy to wear, lightweight, compact, and harmless to the fingers. In terms of effectiveness, it should provide a real and natural feeling to the user ranging from a gentle touch/grasp up to the ability to match the maximum force output of the human hand without constraining the finger movement. However, most existing haptic gloves are either too complicated or ineffective to provide anatural force feeling without some kind of design compromise.

This research explores the design and optimization of a novel five-finger haptic glove mechanism using precision miniature DC motors and bilateral routed cable mechanisms as both active and passive actuators. The glove is a wireless, lightweight, easy to wear haptic glove that could support up to 35 N passive and 10 N active fingertip forces in both extension/flexion directions without limiting the finger workspace. This glove system can be integrated with virtual reality environments or used for rehabilitation application.


Figure 1. CAD model of the glove mechanism.


Figure 2. A prototype of the glove system. 


Figure 3. 2D workspace comparison between index finger and the glove mechanism.



Figure 4. Electrical design diagram of the glove system.




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