A Lightweight Exoskeleton Force Feedback Glove

Abstract

The wearable force feedback glove provides a promising solution for enhancing immersion during teleoperation. In this study, a lightweight five-finger exoskeleton force feedback glove (EFFG) was designed, enabling driving force detection and flexible force feedback. This wireless prototype weighs only 278 g. The glove features a bionic structure and optimized linkage length to ensure operator safety while providing extensive coverage of the finger working space. Moreover, a detailed illustration of the kinematic and dynamic analyses, as well as the circuit structure, was presented. With this prototype as the basis, an isomorphic teleoperation system is designed to achieve force feedback during teleoperation. Concurrently, a driving force-based impedance controller was proposed to enable smooth and precise force feedback. Finally, the performance of the EFFG prototype was evaluated in both unconstrained and constrained environments, demonstrating that the proposed glove is lightweight, capable of detecting driving force, and provides flexible force feedback.

A Wearable Fingertip Force Feedback Device System for Object Stiffness Sensing

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“…Virtual Reality (VR), as a method of human-computer interaction, can simulate the scenes and sounds in the environment to create an immersive experience. VR-based force feedback technology allows users to use tactile rendering algorithms to calculate the feedback force generated during the interaction [ 1 , 2 , 3 ]. These calculated forces are then transmitted to users through haptic feedback devices [ 4 ].…”