Virtual Texture Generated Using Elastomeric Conductive Block Copolymer in a Wireless Multimodal Haptic Glove

Abstract

Haptic devices are in general more adept at mimicking the bulk properties of materials than they are at mimicking the surface properties. Herein, a haptic glove is described which is capable of producing sensations reminiscent of three types of near‐surface properties: hardness, temperature, and roughness. To accomplish this mixed mode of stimulation, three types of haptic actuators are combined: vibrotactile motors, thermoelectric devices, and electrotactile electrodes made from a stretchable conductive polymer synthesized in the laboratory. This polymer consists of a stretchable polyanion which serves as a scaffold for the polymerization of poly(3,4‐ethylenedioxythiophene). The scaffold is synthesized using controlled radical polymerization to afford material of low dispersity, relatively high conductivity, and low impedance relative to metals. The glove is equipped with flex sensors to make it possible to control a robotic hand and a hand in virtual reality (VR). In psychophysical experiments, human participants are able to discern combinations of electrotactile, vibrotactile, and thermal stimulation in VR. Participants trained to associate these sensations with roughness, hardness, and temperature have an overall accuracy of 98%, whereas untrained participants have an accuracy of 85%. Sensations can similarly be conveyed using a robotic hand equipped with sensors for pressure and temperature.

Smart Tactile Gloves for Haptic Interaction, Communication, and Rehabilitation

“…%452 mW Gesture-based N/A 2020 [137] Resistive (conductive polymer) Mix-mode: Thermoelectric, Electromagnetic, Electrotactile [Polymer based materials] >0.2 W Gesture-based N/A 2020 [132] Resistive (fabric-based) N/A 227 mW. Gesture and Touch-based Wifi 2021 [96] Triboelectric/electrostatic (fabric coated with carbon nanotubes [CNTs])…”

“…Some VR/AR smart gloves, including those for rehabilitation, with integrated sensors for tactile feedback are shown in Figure 7a. [132][133][134][135] They have been used to display different tactile information, including temperature. A VR system that utilized a wearable glove with force sensors and an arm band with a vibration motor has been used to conduct experiments with children affected by cerebral palsy.…”

“…Reproduced under the terms of the Attribution 4.0 International of Creative Commons. [132] Copyright 2020 The Author(s), Published by Wiley. b) A thermal display glove for interacting with VR.…”

Design of Electro-Thermal Glove with Sensor Function for Raynaud’s Phenomenon Patients

“…Some of the recently reported heating gloves, such as in Seung-Won. K et al [ 8 ] and Colin V et al [ 9 ], were manufactured specifically for virtual reality applications. Although in the work of Seung-won the glove had electrothermal behavior, the glove design was not precisely for a heating glove, as it could not cover the whole finger and the materials used could affect the comfort of the wearer.…”

Fingerpad‐Inspired Multimodal Electronic Skin for Material Discrimination and Texture Recognition

“…[17,18] Wearable and attachable E-skin is frequently used for artificial intelligence, [19] health monitoring of medical diagnostics, [20][21][22][23] and human machine interfaces for robotics. [24][25][26][27][28][29][30][31] Advanced progress in the development of E-skin has been achieved through understanding, mimicking, and overcoming the ability of human skin especially including tactile perception. [32][33][34][35][36][37] Among the developed E-skins, a few devices offer unique advantages with respect to texture recognition when compared with conventional Eskin devices, including the ability to detect multiple tactile stimuli.…”