Force feedback gloves have found many applications in fields such as teleoperation and virtual reality. In order to enhance the immersive feeling of interaction with remote or virtual environments, glove-like haptic devices are used, which enable users to touch and manipulate virtual objects in a more intuitive and direct way via the dexterous manipulation and sensitive perception capabilities of human hands. In this survey, we aim to identify the gaps between existing force feedback gloves and the desired ones that can provide robust and realistic sensation of the interaction with diverse virtual environments. By examining existing force feedback gloves, the pros and cons of existing design solutions to the major sub-systems including sensing, actuation, control, transmission and structure are discussed. Future research topics are put forward with design challenges being elaborated. Innovative design solutions are needed to enable the utility of wearable haptic gloves in the upcoming virtual reality era.

Brainwave entrainment using rhythmic visual and/or auditory stimulation has shown its efficacy in modulating neural activities and cognitive ability. In the presented study, we aim to investigate whether rhythmic haptic stimulation could enhance short-term attention. An experiment with sensorimotor rhythm (SMR) increasing protocol was performed in which participants were presented sinusoidal vibrotactile stimulus of 15 Hz on their palm. Test of Variables of Attention (T.O.V.A.) was performed before and after the stimulating session. Electroencephalograph (EEG) was recorded across the stimulating session and the two attention test sessions. SMR band power manifested a significant increase after stimulation. Results of T.O.V.A. tests indicated an improvement in the attention of participants who had received the stimulation compared to the control group who had not received the stimulation. The D prime score of T.O.V.A. reveals that participants performed better in perceptual sensitivity and sustaining attention level compared to their baseline performance before the stimulating session. These findings highlight the potential value of using haptics-based brainwave entrainment for cognitive training.

Human tactile perception and motor control rely on the frictional estimates that stem from the deformation of the skin and slip events. However, it is not clear how exactly these mechanical events relate to the perception of friction. This study aims to quantify how minor lateral displacement and speed enables subjects to feel frictional differences. In a 2alternative forced-choice protocol, an ultrasonic friction-reduction device was brought in contact perpendicular to the skin surface of an immobilized index finger; after reaching 1N normal force, the plate was moved laterally. A combination of four displacement magnitudes (0.2, 0.5, 1.2 and 2 mm), two levels of friction (high, low) and three displacement speeds (1, 5 and 10 mm/s) were tested. We found that the perception of frictional difference was enabled by submillimeter range lateral displacement. Friction discrimination thresholds were reached with lateral displacements ranging from 0.2 to 0.5 mm and surprisingly speed had only a marginal effect. These results demonstrate that partial slips are sufficient to cause awareness of surface slipperiness. These quantitative data are crucial for designing haptic devices that render slipperiness. The results also show the importance of subtle lateral finger movements present during dexterous manipulation tasks.

To present information using vibrotactile stimuli in wearable devices, it is fundamental to understand human performance of localizing vibrotactile cues across the skin surface. In this paper, we studied human ability to identify locations of multiple vibrotactile cues activated simultaneously on both arms. Two haptic bands were mounted in proximity to the elbow and shoulder joints on each arm, and two vibrotactile motors were mounted on each band to provide vibration cues to the dorsal and palmar side of the arm. The localization performance under four conditions were compared, with the number of the simultaneously activated cues varying from one to four in each condition. Experimental results illustrate that the rate of correct localization decreases linearly with the increase in the number of activated cues. It was 27.8 percent for three activated cues, and became even lower for four activated cues. An analysis of the correct rate and error patterns show that the layout of vibrotactile cues can have significant effects on the localization performance of multiple vibrotactile cues. These findings might provide guidelines for using vibrotactile cues to guide the simultaneous motion of multiple joints on both arms.