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Journal articles on the topic 'Haptic glove'

Author: Grafiati

Published: 4 June 2021

Last updated: 6 February 2022

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1

Shor, Daniel, Bryan Zaaijer, Laura Ahsmann, Max Weetzel, Simon Immerzeel, Daniël Eikelenboom, Jess Hartcher-O’Brien, and Doris Aschenbrenner. "Designing Haptics: Improving a Virtual Reality Glove with Respect to Realism, Performance, and Comfort." International Journal of Automation Technology 13, no. 4 (July 5, 2019): 453–63. http://dx.doi.org/10.20965/ijat.2019.p0453.

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This design paper describes the development of custom built interface between a force-replicating virtual reality (VR) haptic interface glove, and a user. The ability to convey haptic information – both kinematic and tactile – is a critical barrier in creating comprehensive simulations. Haptic interface gloves can convey haptic information, but often the haptic “signal” is diluted by sensory “noise,” miscuing the user’s brain. Our goal is to convey compelling interactions – such as grasping, squeezing, and pressing – with virtual objects by improving one such haptic interface glove, the SenseGlove, through a redesign of the user-glove interface, soft glove. The redesign revolves around three critical design factors – comfort, realism, and performance – and three critical design areas – thimble/fingertip, palm, and haptic feedback. This paper introduces the redesign method and compares the two designs with a quantitative user study. The benefit of the improved soft glove can be shown by a significant improvement of the design factors, quantified through QUESI, NASA-TLX, and comfort questionnaires.

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2

Pala, Ferhat Kadir, and Pınar Mıhcı Türker. "Developing a haptic glove for basic piano education." World Journal on Educational Technology: Current Issues 11, no. 1 (February 11, 2019): 38–47. http://dx.doi.org/10.18844/wjet.v11i1.4008.

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This study aims at developing a glove with integrated haptic interface to facilitate the learning of those who have just started playing piano and allowing them to perform without a need for a piano during daily activities. The steps of the analysis, design, development, implementation, evaluation model were used in the research. In the analysis stage, students’ needs were analysed and problems were determined. At the design stage, practices oriented to resolving these problems were analysed and it was decided that haptic gloves might be appropriate for the solution to the problems revealed. At the development stage, evaluations were made directed to development of the product and formatting. The participants used the haptic glove for a while and have expressed their opinions, which are recorded by video camera. The recordings were analysed and it was found that the second version of the haptic glove increased the participants’ recall level of the music.Keywords: Music education, haptic glove, piano education, passive haptic learning.*

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3

Thilmany, Jean. "A Touching Sensation." Mechanical Engineering 125, no. 11 (November 1, 2003): 30–32. http://dx.doi.org/10.1115/1.2003-nov-1.

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This article discusses Haptics technology that is being used to train surgeons and rehabilitate patients. Haptics technology, a recent enhancement to virtual reality technology, gives users the touch and feel of simulated objects they interact with, usually through a device like a specialized mouse or a haptic glove. John Hollerbach, a computing professor and an adjunct professor of mechanical engineering at the University of Utah, says haptic devices and robotic devices share the same drawbacks, particularly involving limits to the miniaturization of motors. Haptic devices that fit the hand, like the one sold by Immersion Corp., or the force-feedback glove developed at Rutgers give the wearer a sense of touch, as if one is squeezing a ball or tracing an object. Hollerbach of the University of Utah said the future looks bright for haptics. The Rutgers ankle simulates walking over several types of terrain for patients undergoing physical therapy. Haptics can simulate assembling a part to ensure that it is designed for easy construction.

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4

Moriyama, Taha, and Hiroyuki Kajimoto. "HARVEST: High-Resolution Haptic Vest and Fingertip Sensing Glove That Transfers Tactile Sensation of Fingers to the Back." Applied Sciences 11, no. 3 (February 1, 2021): 1298. http://dx.doi.org/10.3390/app11031298.

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Human fingertips are densely populated with tactile receptors and are hence incredibly sensitive. However, wearing gloves on the fingers drastically reduces the tactile information available to the fingertips, such as the texture and shape of the object, and makes it difficult to perform dexterous work. As a solution, in this study, we developed a high-resolution haptic vest that transfers the tactile sensation of the fingertips to the back. The haptic vest contains 80 voice-coil type vibrators which are located at each of the two discrimination thresholds on the back and can be driven independently. The tactile sensation of the fingertips is transferred to the back using the developed haptic vest in combination with a sensing glove that can detect the pressure distribution on the finger skin at up to 100 points. Different experiments were conducted to validate the performance of the proposed haptic vest and sensing gloves. The use of the haptic vest and the sensing glove enabled the user to perceive the shape of a planar object more accurately when compared to the case where the user wore only the glove.

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5

Pala, Ferhat Kadir, and Pınar Mihci Turker. "Developing a haptic glove for basic piano education." World Journal on Educational Technology: Current Issues 11, no. 1 (February 6, 2019): 38–47. http://dx.doi.org/10.18844/wjet.v11i1.3985.

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This study aims at developing a glove with integrated haptic interface to facilitate the learning of those who have just started playing piano and allowing them to perform without a need for a piano during daily activities. The steps of the analysis, design, development, implementation, evaluation model were used in the research. In the analysis stage, students’ needs were analysed and problems were determined. At the design stage, practices oriented to resolving these problems were analysed and it was decided that haptic gloves might be appropriate for the solution to the problems revealed. At the development stage, evaluations were made directed to development of the product and formatting. The participants used the haptic glove for a while and have expressed their opinions, which are recorded by video camera. The recordings were analysed and it was found that the second version of the haptic glove increased the participants’ recall level of the music.

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6

Kopecny, Lukas. "Haptic glove with pneumatic muscle actuators." IFAC Proceedings Volumes 36, no. 17 (September 2003): 359–62. http://dx.doi.org/10.1016/s1474-6670(17)33420-1.

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7

Kitada, Toshio, Yasuharu Kunii, and Hideki Hashimoto. "20 DOF Five Fingered Glove Type Haptic Interface - Sensor Glove II -." Journal of Robotics and Mechatronics 9, no. 3 (June 20, 1997): 171–76. http://dx.doi.org/10.20965/jrm.1997.p0171.

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In this paper, a new haptic human interface device to communicate with a virtual world, which we named Sensor Glove II (SGII), is presented. SGII, which is drawn on the human hand, corresponds to the dexterous manipulation of human fingers and acquires angles and torque of each joint. SGII adds the reaction forces of a virtual object to the fingers. The forces are calculated in the Dynamic Force Simulator we have developed. We outline the design, characteristics and structure of SGII, and display preliminary experimental result to verify the stability and performance of SGII.

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8

Bullion, Conrad, and Hakan Gurocak. "Haptic Glove with MR Brakes for Distributed Finger Force Feedback." Presence: Teleoperators and Virtual Environments 18, no. 6 (December 1, 2009): 421–33. http://dx.doi.org/10.1162/pres.18.6.421.

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Most existing haptic gloves are complicated user interfaces with remotely located actuators. More compact and simpler haptic gloves would greatly increase our ability to interact with virtual worlds in a more natural way. This research explored the design of a compact force feedback glove using a new finger mechanism and magnetorheological (MR) brakes as passive actuators that oppose human finger motion. The mechanism allowed for a reduction of the number of actuators and application of distributed forces at the bottom surface of user's fingers when an object was grasped in a virtual environment. The MR brakes incorporated a serpentine flux path that led to a small brake with high torque output and the elimination of remote actuation. Force analysis of the mechanism, grasping force experiments, and virtual pick-and-place experiments were done. The glove reduced task completion time by 61% and could support up to 17 N fingertip force along with 11.9 N and 18.7 N middle and proximal digit forces.

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9

Hwang, Yo-Seop, and Jang-Myung Lee. "Development of Haptic Glove for Remote Control." Transactions of The Korean Institute of Electrical Engineers 60, no. 5 (May 1, 2011): 1030–35. http://dx.doi.org/10.5370/kiee.2011.60.5.1030.

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10

Zhu, Minglu, Zhongda Sun, Zixuan Zhang, Qiongfeng Shi, Tianyiyi He, Huicong Liu, Tao Chen, and Chengkuo Lee. "Haptic-feedback smart glove as a creative human-machine interface (HMI) for virtual/augmented reality applications." Science Advances 6, no. 19 (May 2020): eaaz8693. http://dx.doi.org/10.1126/sciadv.aaz8693.

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Human-machine interfaces (HMIs) experience increasing requirements for intuitive and effective manipulation. Current commercialized solutions of glove-based HMI are limited by either detectable motions or the huge cost on fabrication, energy, and computing power. We propose the haptic-feedback smart glove with triboelectric-based finger bending sensors, palm sliding sensor, and piezoelectric mechanical stimulators. The detection of multidirectional bending and sliding events is demonstrated in virtual space using the self-generated triboelectric signals for various degrees of freedom on human hand. We also perform haptic mechanical stimulation via piezoelectric chips to realize the augmented HMI. The smart glove achieves object recognition using machine learning technique, with an accuracy of 96%. Through the integrated demonstration of multidimensional manipulation, haptic feedback, and AI-based object recognition, our glove reveals its potential as a promising solution for low-cost and advanced human-machine interaction, which can benefit diversified areas, including entertainment, home healthcare, sports training, and medical industry.

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11

Kalra, Siddharth, Sarika Jain, and Amit Agarwal. "Capacitive Touch Sensitive Vibro-Haptic Typing Training System for the Visually Impaired." Journal of Information Technology Research 13, no. 1 (January 2020): 1–16. http://dx.doi.org/10.4018/jitr.2020010101.

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The proposed system implements a vibro-haptic glove device which works in tandem to a customized computer keyboard with capacitive touch sensitivity, facilitating a fast-paced typing method for the visually impaired. A normal keyboard is retro-fitted with a “capacitive sense” membrane that activates on human touch, along with a pair of fingerless haptic gloves with vibrators on each finger and a pair of Bluetooth earphones. The visually impaired user receives audible and haptic cues facilitating learning to type the correct key using the right finger on the computer keyboard. This utilizes the Passive-Haptic-Learning (PHL) paradigm for fast paced multisensory learning. A group of blind students were chosen and trained on this system for one month. There were pre and post training assessments conducted, and their scores compared. The findings showcased positive results.

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12

Sim, Donghyun, Yoonchul Baek, Minjeong Cho, Sunghoon Park, A. S. M. Sharifuzzaman Sagar, and Hyung Seok Kim. "Low-Latency Haptic Open Glove for Immersive Virtual Reality Interaction." Sensors 21, no. 11 (May 25, 2021): 3682. http://dx.doi.org/10.3390/s21113682.

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Recent advancements in telecommunications and the tactile Internet have paved the way for studying human senses through haptic technology. Haptic technology enables tactile sensations and control using virtual reality (VR) over a network. Researchers are developing various haptic devices to allow for real-time tactile sensation, which can be used in various industries, telesurgery, and other mission-critical operations. One of the main criteria of such devices is extremely low latency, as low as 1 ms. Although researchers are attempting to develop haptic devices with low latency, there remains a need to improve latency and robustness to hand sizes. In this paper, a low-latency haptic open glove (LLHOG) based on a rotary position sensor and min-max scaling (MMS) filter is proposed to realize immersive VR interaction. The proposed device detects finger flexion/extension and adduction/abduction motions using two position sensors located in the metacarpophalangeal (MCP) joint. The sensor data are processed using an MMS filter to enable low latency and ensure high accuracy. Moreover, the MMS filter is used to process object handling control data to enable hand motion-tracking. Its performance is evaluated in terms of accuracy, latency, and robustness to finger length variations. We achieved a very low processing delay of 145.37 μs per finger and overall hand motion-tracking latency of 4 ms. Moreover, we tested the proposed glove with 10 subjects and achieved an average mean absolute error (MAE) of 3.091∘ for flexion/extension, and 2.068∘ for adduction/abduction. The proposed method is therefore superior to the existing methods in terms of the above factors for immersive VR interaction.

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13

Yoshimitsu, Toshihiro, and Shougo Tada. "Finger Character Learning Support Pneumatic Haptic Presentation Glove." Journal of Life Support Engineering 30, no. 3 (August 31, 2018): 82–89. http://dx.doi.org/10.5136/lifesupport.30.82.

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14

UTSUGI, Masato, Keiichi WATANUKI, and Kazunori KAEDE. "Development of glove style haptic device using MSE." Proceedings of Mechanical Engineering Congress, Japan 2017 (2017): S1110102. http://dx.doi.org/10.1299/jsmemecj.2017.s1110102.

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15

Andaluz, Víctor H., Edgar F. Borja, Daniel A. Lara, and Pablo A. Zambrano. "Vibrating Haptic Stimulation Glove for Virtual Reality Environments." Advanced Science Letters 24, no. 11 (November 1, 2018): 8841–45. http://dx.doi.org/10.1166/asl.2018.12358.

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16

Minh, Vu Trieu, Reza Moezzi, and Nikita Katushin. "Haptic Smart Glove for Augmented and Virtual Reality." Sensor Letters 17, no. 5 (May 1, 2019): 358–64. http://dx.doi.org/10.1166/sl.2019.4070.

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17

Blake, J., and H. B. Gurocak. "Haptic Glove With MR Brakes for Virtual Reality." IEEE/ASME Transactions on Mechatronics 14, no. 5 (October 2009): 606–15. http://dx.doi.org/10.1109/tmech.2008.2010934.

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18

Mylon, Peter, Matt J. Carré, Nicolas Martin, and Roger Lewis. "How do gloves affect cutaneous sensibility in medical practice? Two new applied tests." Proceedings of the Institution of Mechanical Engineers, Part H: Journal of Engineering in Medicine 231, no. 1 (November 23, 2016): 28–39. http://dx.doi.org/10.1177/0954411916679199.

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In order to quantify the effect of medical gloves on tactile performance, two new Simulated Medical Examination Tactile Tests (SMETT) have been developed to replicate the tactile and haptic ability required in medical examinations: the ‘Bumps’ test and the ‘Princess and the Pea’ (P&P) test. A pilot study was carried out using 30–40 subjects for each test in order to investigate the suitability of the tests for medical glove evaluation. Tests were performed with latex and nitrile examination gloves and without gloves. Following the tests, small-scale studies were carried out to investigate the effect of various design parameters, such as material stiffness and tactile exploration method. In the ‘Bumps’ test, subjects performed significantly better in the ungloved condition, and there were ‘almost significant’ differences between the gloves, with the thinner latex gloves performing better than the thicker nitrile gloves. Both finger orientation and surface lubrication were found to have a significant effect on results, indicating that these need to be clearly defined in the test procedure. In the ‘P&P’ test, no significant effect of hand condition was found, suggesting that haptic sensing is less affected by medical gloves than cutaneous sensibility. Other factors such as material stiffness, technique and test orientation had a more significant effect. The SMETT ‘Bumps’ test has potential as a clinical manual performance evaluation tool and may be used to evaluate the relative effects of different gloves. The SMETT ‘P&P’ test is a valid measure of haptic or tactile performance, but should not be used in glove evaluation. Both tests could have further applications, such as in the assessment of neurological impairment or aptitude testing for potential surgeons.

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19

Villamarín, Diego, and José Manuel Menéndez. "Haptic Glove TV Device for People with Visual Impairment." Sensors 21, no. 7 (March 26, 2021): 2325. http://dx.doi.org/10.3390/s21072325.

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Immersive video is changing the way we enjoy TV. It is no longer just about receiving sequential images with audio, but also playing with other human senses through smells, vibrations of movement, 3D audio, feeling water, wind, heat, and other emotions that can be experienced through all human senses. This work aims to validate the usefulness of an immersive and interactive solution for people with severe visual impairment by developing a haptic glove that allows receiving signals and generating vibrations in hand, informing about what happens in a scene. The study case presented here shows how the haptic device can take the information about the ball’s location in the playing field, synchronized with the video reception, and deliver it to the user in the form of vibrations during the re-transmission of a soccer match. In this way, we take visually impaired people to live a new sensory experience, allowing digital and social inclusion and accessibility to audiovisual technologies that they could not enjoy before. This work shows the methodology used for the design, implementation, and results evaluation. Usability tests were carried out with fifteen visually impaired people who used the haptic device to attend a soccer match synchronized with the glove’s vibrations.

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20

Guo, Yuan, Xiuping Yang, Haitong Wang, Yuru Zhang, Weiliang Xu, and Dangxiao Wang. "Five-Fingered Passive Force Feedback Glove Using a Variable Ratio Lever Mechanism." Actuators 10, no. 5 (May 1, 2021): 96. http://dx.doi.org/10.3390/act10050096.

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Force feedback gloves allow users to touch and manipulate virtual objects intuitively. Compared with gloves providing active feedback force, gloves with passive feedback force are promising in terms of safety and low weight, but simulating the variable stiffness of virtual objects is more challenging. Addressing this difficulty, we propose a five-fingered glove with passive force feedback employing a variable ratio lever mechanism. The stiffness of the proposed glove is tuned by changing the structural stiffness of this mechanism rather than by applying torque control at each joint of the finger. The switch between free and constrained space is realized in real time by locking/unlocking the revolute joints of the glove using a servo motor. Furthermore, a predictive control mode is proposed to reduce the response time of the control system, and the actual response time is less than the limit of the delay (45 ms) that humans can perceive between visual and haptic stimuli. Experimental results show that the linear stiffness at the fingertip ranges from 0.89 to 619.89 N/m, and the maximum backdrive force of the proposed glove is less than 0.147 N.

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21

Borst, Christoph W., and Richard A. Volz. "Evaluation of a Haptic Mixed Reality System for Interactions with a Virtual Control Panel." Presence: Teleoperators and Virtual Environments 14, no. 6 (December 2005): 677–96. http://dx.doi.org/10.1162/105474605775196562.

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We present a haptic feedback technique that combines feedback from a portable force-feedback glove with feedback from direct contact with rigid passive objects. This approach is a haptic analogue of visual mixed reality, since it can be used to haptically combine real and virtual elements in a single display. We discuss device limitations that motivated this combined approach and summarize technological challenges encountered. We present three experiments to evaluate the approach for interactions with buttons and sliders on a virtual control panel. In our first experiment, this approach resulted in better task performance and better subjective ratings than the use of only a force-feedback glove. In our second experiment, visual feedback was degraded and the combined approach resulted in better performance than the glove-only approach and in better ratings of slider interactions than both glove-only and passive-only approaches. A third experiment allowed subjective comparison of approaches and provided additional evidence that the combined approach provides the best experience.

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22

Bargerhuff, Mary Ellen, Heidi Cowan, Francisco Oliveira, Francis Quek, and Bing Fang. "Haptic Glove Technology: Skill Development through Video Game Play." Journal of Visual Impairment & Blindness 104, no. 11 (November 2010): 688–99. http://dx.doi.org/10.1177/0145482x1010401103.

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23

Miki, Norihisa, Seiya Yamaguchi, Shunsaku Suzuki, and Tatsuho Nagatomo. "Handshake Feedback in a Haptic Glove using NOVEC7000 Fluids." Proceedings of the Symposium on Micro-Nano Science and Technology 2020.11 (2020): 26P3—MN3–9. http://dx.doi.org/10.1299/jsmemnm.2020.11.26p3-mn3-9.

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24

Giannopoulos, Elias, Ausias Pomes, and Mel Slater. "Touching the Void: Exploring Virtual Objects through a Vibrotactile Glove." International Journal of Virtual Reality 11, no. 3 (January 1, 2012): 19–24. http://dx.doi.org/10.20870/ijvr.2012.11.3.2847.

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This paper describes a simple low-cost approach to adding an element of haptic interaction within a virtual environment. Using off-the-shelf hardware and software we describe a simple setup that can be used to explore physically virtual objects in space. This setup comprises of a prototype glove with a number of vibrating actuators to provide the haptic feedback, a Kinect camera for the tracking of the user's hand and a virtual reality development environment. As proof of concept and to test the efficiency of the system as well as its potential applications, we developed a simple application where we created 4 different shapes within a virtual environment in order to try to explore them and guess their shape through touch alone.

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25

Diaz, Carlos, and Shahram Payandeh. "Multimodal Sensing Interface for Haptic Interaction." Journal of Sensors 2017 (2017): 1–24. http://dx.doi.org/10.1155/2017/2072951.

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This paper investigates the integration of a multimodal sensing system for exploring limits of vibrato tactile haptic feedback when interacting with 3D representation of real objects. In this study, the spatial locations of the objects are mapped to the work volume of the user using a Kinect sensor. The position of the user’s hand is obtained using the marker-based visual processing. The depth information is used to build a vibrotactile map on a haptic glove enhanced with vibration motors. The users can perceive the location and dimension of remote objects by moving their hand inside a scanning region. A marker detection camera provides the location and orientation of the user’s hand (glove) to map the corresponding tactile message. A preliminary study was conducted to explore how different users can perceive such haptic experiences. Factors such as total number of objects detected, object separation resolution, and dimension-based and shape-based discrimination were evaluated. The preliminary results showed that the localization and counting of objects can be attained with a high degree of success. The users were able to classify groups of objects of different dimensions based on the perceived haptic feedback.

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26

Shing, Chang-Yih, Chin-Ping Fung, Tien-Yow Chuang, I.-Wen Penn, and Ji-Liang Doong. "The study of auditory and haptic signals in a virtual reality-based hand rehabilitation system." Robotica 21, no. 2 (February 19, 2003): 211–18. http://dx.doi.org/10.1017/s0263574702004708.

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The purpose of the present study is to assess the influence of auditory and haptic signals on the manipulation performance in a virtual reality-based hand rehabilitation system. A personal computer, a tracker, and a data glove were included in this system. Three-dimensional virtual environments were developed. Forty volunteers were recruited to participate in a pick-and-place procedure, with three levels of difficulty and four feedback modes. Task time and collision frequency were the parameters used to evaluate their manipulation performance. It can be concluded that the haptics is a significant signal for improving a subject's performance at the high difficulty level.

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27

Neela Harish, M. "Intelligent glove for visually impaired people using haptic feedback system." Materials Today: Proceedings 33 (2020): 2854–57. http://dx.doi.org/10.1016/j.matpr.2020.02.729.

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28

Minh, Vu Trieu, Nikita Katushin, and John Pumwa. "Motion tracking glove for augmented reality and virtual reality." Paladyn, Journal of Behavioral Robotics 10, no. 1 (March 27, 2019): 160–66. http://dx.doi.org/10.1515/pjbr-2019-0012.

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AbstractThis project designs a smart glove, which can be used for motion tracking in real time to a 3D virtual robotic arm in a PC. The glove is low cost with the price of less than 100 € and uses only internal measurement unit for students to develop their projects on augmented and virtual reality applications. Movement data from the glove is transferred to the PC via UART DMA. The data is set as the motion reference path for the 3D virtual robotic arm to follow. APID feedback controller controls the 3D virtual robot to track exactly the haptic glove movement with zero error in real time. This glove can be used also for remote control, tele-robotics and tele-operation systems.

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Zubrycki, Igor, and Grzegorz Granosik. "Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface." Journal of Intelligent & Robotic Systems 85, no. 3-4 (June 15, 2016): 413–29. http://dx.doi.org/10.1007/s10846-016-0392-6.

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AbstractThis paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads, and their control system. These devices use the jamming phenomena to change the stiffness of their elements and block the hand movement when a vacuum is applied. We present results of our experiments to measure static and dynamic changes in stiffness, which can be used to change the perception of grabbing hard or soft objects. The device, at its current state is capable of resisting forces of up to 7 N with 5 mm displacement and can simulate hardness up to the hardness of a rubber. However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors. Finally, we show an application of the haptic interface in our teleoperation system to provide the operator with haptic feedback in a light weight and simple form.

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Terrile, Silvia, Jesus Miguelañez, and Antonio Barrientos. "A Soft Haptic Glove Actuated with Shape Memory Alloy and Flexible Stretch Sensors." Sensors 21, no. 16 (August 4, 2021): 5278. http://dx.doi.org/10.3390/s21165278.

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Haptic technology allows us to experience tactile and force sensations without the need to expose ourselves to specific environments. It also allows a more immersive experience with virtual reality devices. This paper presents the development of a soft haptic glove for kinesthetic perception. It is lightweight and soft to allow for a more natural hand movement. This prototype actuates two fingers with two shape memory alloy (SMA) springs. Finite element (FE) simulations of the spring have been carried out to set the dimensions of the actuators. Flexible stretch sensors provide feedback to the system to calculate the tension of the cables attached to the fingers. The control can generate several recognizable levels of force for any hand position since the objects to be picked up can vary in weight and dimension. The glove can generate three levels of force (100, 200 and 300 g) to evaluate more easily the proper functioning. We realized tests on 15 volunteers simulating forces in various order after a quick training. We also asked volunteers about the experience for comfort, global experience and simplicity). Results were satisfactory in both aspects: the glove fulfilled its function, and the users were comfortable with it.

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31

Paterson, Mark. "On haptic media and the possibilities of a more inclusive interactivity." New Media & Society 19, no. 10 (July 12, 2017): 1541–62. http://dx.doi.org/10.1177/1461444817717513.

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What is the relationship between the ‘haptic’ and the ‘tactile’ when it comes to media? We might question whether there is such a thing as ‘haptic media’; in other words, is there a type of media that invite the attention of one modality rather than another, or that foster certain types of interaction over others? If we were to speak about ‘haptic media’, to what extent does it engage directly (only) with touch, and to what extent does it involve some form of enhancement of another modality? In what ways can haptic media appeal beyond the visuocentric norm of the screen, and therefore to non-normate or disabled users? Further, to what extent does the haptic in particular benefit from ‘sensory substitution’, which is most usually of touch for vision in assisted living technologies for the blind, or of sound for touch for the deaf, for example? Certain historical instances of sensory substitution systems are discussed below, including Norbert Wiener’s ‘hearing glove’ and Bach-Y-Rita’s tactile–visual sensory substitution (TVSS) system, to make a larger argument about the role of haptic technologies, and haptic media, for more inclusive digital interactions.

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Jadhav, Saurabh, Vikas Kannanda, Bocheng Kang, Michael T. Tolley, and Jurgen P. Schulze. "Soft robotic glove for kinesthetic haptic feedback in virtual reality environments." Electronic Imaging 2017, no. 3 (January 29, 2017): 19–24. http://dx.doi.org/10.2352/issn.2470-1173.2017.3.ervr-102.

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33

Zelek, John S., Sam Bromley, Daniel Asmar, and David Thompson. "A Haptic Glove as a Tactile-Vision Sensory Substitution for Wayfinding." Journal of Visual Impairment & Blindness 97, no. 10 (October 2003): 621–32. http://dx.doi.org/10.1177/0145482x0309701007.

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INOMATA, Syuichiro, and Yasuhiro KANTO. "Realization of virtual wall for visually handicapped people using haptic glove." Proceedings of Ibaraki District Conference 2018.26 (2018): 518. http://dx.doi.org/10.1299/jsmeibaraki.2018.26.518.

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D’Abbraccio, Jessica, Luca Massari, Sahana Prasanna, Laura Baldini, Francesca Sorgini, Giuseppe Airò Farulla, Andrea Bulletti, et al. "Haptic Glove and Platform with Gestural Control For Neuromorphic Tactile Sensory Feedback In Medical Telepresence †." Sensors 19, no. 3 (February 3, 2019): 641. http://dx.doi.org/10.3390/s19030641.

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Advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting sensory perception during object palpation in tele-surgery and reproducing the sensed information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform and the user being 50 km apart. We found that the entailed percentage of identification was higher for stiffer inclusions with respect to the softer ones (average of 74% within the duration of the task), in both telepresence conditions evaluated. These promising results call for further exploration of tactile augmentation technology for telepresence in medical interventions.

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Korondi, Pe´ter, Pe´ter T. Szemes, and Hideki Hasimoto. "Sliding Mode Friction Compensation for a 20 DOF Sensor Glove." Journal of Dynamic Systems, Measurement, and Control 122, no. 4 (March 1, 2000): 611–15. http://dx.doi.org/10.1115/1.1317232.

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A high-performance human interface device needs accurate force feedback from the manipulated environment to the operator to improve the operation. The mechanism applied in the human interface device usually has a reasonable imminent friction. This friction must be compensated in a way that the operator cannot feel this friction force but only the force from the manipulated environment. The main contribution of this paper is a practical application of direct model based chattering free sliding mode friction estimator and compensator for a human interface device, which is used for virtual telemanipulation. Experimental results are presented for a sensor glove type haptic device with 20 degrees of freedom. [S0022-0434(00)01104-7]

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Franco, Walter, Daniela Maffiodo, Carlo De Benedictis, and Carlo Ferraresi. "Use of McKibben Muscle in a Haptic Interface." Robotics 8, no. 1 (February 18, 2019): 13. http://dx.doi.org/10.3390/robotics8010013.

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One of the most relevant issues in the development of a haptic interface is the choice of the actuators that are devoted to generating the reflection forces. This work has been particularly focused on the employment of the McKibben muscle to this aim. A prototype of one finger has been realized that is intended to be part of a haptic glove, and is based on an articulated mechanism driven by a McKibben muscle. A dynamic model of the finger has been created and validated; then, it has been used to define the control algorithm of the device. Experimental tests highlighted the static and dynamic effectiveness of the device and proved that a McKibben muscle can be appropriately used in such an application.

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Petrini, Karin, Alicia Remark, Louise Smith, and Marko Nardini. "When vision is not an option: Development of haptic–auditory integration." Seeing and Perceiving 25 (2012): 205. http://dx.doi.org/10.1163/187847612x648341.

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To perform everyday tasks, such as crossing a road, we greatly rely on our sight. However, certain situations (e.g., an extremely dark environment) as well as visual impairments can either reduce the reliability of or completely remove this sensory information. In these cases, the use of other information is vital. Here we seek to examine the development of haptic and auditory integration. Three different groups of adults and 5- to 12-year-old children were asked to judge which of a standard sized and a variably sized ball was the largest. One group performed the task with auditory information only, haptic only or both. Auditory information about object size came from the loudness of a naturalistic sound played when observers knocked the ball against a touch-pad. A second group performed the same conditions, while wearing a thick glove to reduce the reliability of the haptic information. Finally, a third group performed the task with either congruent or incongruent information. Psychometric functions were fitted to responses in order to measure observers’ sensitivities to object size under these different conditions. Integration of haptic and auditory information predicts greater sensitivity in the bimodal condition than in either single-modality condition. Initial results show that young children do not integrate information from haptic and auditory modalities, with some children aged below 8 years performing worse in the bimodal condition than in the auditory-only condition. Older children and adults seem able to integrate auditory and haptic information, especially when the reliability of the haptic information is reduced.

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Lin, Chi-Ying, Chia-Min Tsai, Pei-Cheng Shih, and Hsiao-Ching Wu. "Development of a novel haptic glove for improving finger dexterity in poststroke rehabilitation." Technology and Health Care 24, s1 (December 8, 2015): S97—S103. http://dx.doi.org/10.3233/thc-151056.

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NISHIZAKI, Keisuke, Keigo SATO, Shunsuke KOMIZUNAI, and Atsushi KONNO. "1P1-V06 A Glove Type Haptic Device Suitable for Combination with Visual Display." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015 (2015): _1P1—V06_1—_1P1—V06_4. http://dx.doi.org/10.1299/jsmermd.2015._1p1-v06_1.

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Mazzoni, Antonella, and Nick Bryan-Kinns. "Mood Glove: A haptic wearable prototype system to enhance mood music in film." Entertainment Computing 17 (November 2016): 9–17. http://dx.doi.org/10.1016/j.entcom.2016.06.002.

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KOMEDA, Takashi, Shinichi UCHINO, Yoshiyuki TAKAHASHI, Mario ELASYEH, Yukio KAWAKAMI, Hiroyuki KOYAMA, and Shin-ichiro YAMAMOTO. "Development of a haptic glove to use a master-slave rehabilitation robot hand system." Proceedings of the JFPS International Symposium on Fluid Power 2005, no. 6 (2005): 745–48. http://dx.doi.org/10.5739/isfp.2005.745.

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Keef, Colin V., Laure V. Kayser, Stazia Tronboll, Cody W. Carpenter, Nicholas B. Root, Mickey Finn, Timothy F. O'Connor, et al. "Virtual Texture Generated Using Elastomeric Conductive Block Copolymer in a Wireless Multimodal Haptic Glove." Advanced Intelligent Systems 2, no. 4 (March 24, 2020): 2000018. http://dx.doi.org/10.1002/aisy.202000018.

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Murray, Anne M., Roberta L. Klatzky, and Pradeep K. Khosla. "Psychophysical Characterization and Testbed Validation of a Wearable Vibrotactile Glove for Telemanipulation." Presence: Teleoperators and Virtual Environments 12, no. 2 (April 2003): 156–82. http://dx.doi.org/10.1162/105474603321640923.

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This paper describes and evaluates a high-fidelity, low-cost haptic interface for tele-operation. The interface is a wearable vibrotactile glove containing miniature voice coils that provides continuous, proportional force information to the user's finger-tips. In psychophysical experiments, correlated variations in the frequency and amplitude of the stimulators extended the user's perceptual response range compared to varying amplitude or frequency alone. In an adaptive, force-limited, pick-and-place manipulation task, the interface allowed users to control the grip forces more effectively than no feedback or binary feedback, which produced equivalent performance. A sorting experiment established that proportional tactile feedback enhances the user's ability to discriminate the relative properties of objects, such as weight. We conclude that correlated amplitude and frequency signals, simulating force in a remote environment, substantially improve teleoperation.

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Funahashi, Kenji, Daisuke Kubotani, Yuji Iwahori, and Koji Tanida. "Virtual Scissors in a Thin Haptic and Force Feedback Environment." Journal of Advanced Computational Intelligence and Intelligent Informatics 13, no. 3 (May 20, 2009): 283–88. http://dx.doi.org/10.20965/jaciii.2009.p0283.

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The virtual scissors using virtual hands we propose enable users can cut virtual paper with their own hands. One purpose of our proposal is to facilitate implementing different tools simply by changing software parameters. Another is to make a general-purpose system with small-scale input and output devices for general applications, e.g., only using thin haptic information and force feedback. With such virtual reality (VR) scissors, we introduced feedback to cover any impressions such as interface interference during use. We evaluated whether an interaction occurred between vibration feedback and sound effects. Using this system, we found that users could manipulate virtual scissors through a data-glove similar to the use of real ones.

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Kalra, Siddharth, Sarika Jain, and Amit Agarwal. "Gesture Controlled Tactile Augmented Reality Interface for the Visually Impaired." Journal of Information Technology Research 14, no. 2 (April 2021): 125–51. http://dx.doi.org/10.4018/jitr.2021040107.

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This paper proposes to create an augmented reality interface for the visually impaired, enabling a way of haptically interacting with the computer system by creating a virtual workstation, facilitating a natural and intuitive way to accomplish a multitude of computer-based tasks (such as emailing, word processing, storing and retrieving files from the computer, making a phone call, searching the web, etc.). The proposed system utilizes a combination of a haptic glove device, a gesture-based control system, and an augmented reality computer interface which creates an immersive interaction between the blind user and the computer. The gestures are recognized, and the user is provided with audio and vibratory haptic feedbacks. This user interface allows the user to actually “touch, feel, and physically interact” with digital controls and virtual real estate of a computer system. A test of applicability was conducted which showcased promising positive results.

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Javaid, Maria. "Communication Through Haptics During Human Collaborative Manipulation." International Journal of Humanoid Robotics 15, no. 03 (June 2018): 1850003. http://dx.doi.org/10.1142/s0219843618500032.

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This paper describes research towards understanding haptic communication during planar object manipulation. In particular, a classification algorithm that classifies four stages of manipulation of a planar object is described. This research was performed as a part of a broader research project which has the goal of developing a user-friendly communication interface for an elderly-assistive robot. The manipulation of planar object was studied in detail as it happened very frequently during user study involving a caregiver helping an elderly person with the activities of daily living. For observing human haptic interaction, a sensory glove was developed. Further data collection was conducted in the laboratory setting and data was analyzed using various machine learning techniques. Based on this analysis, decision rules were derived that give insight into human-to-human collaborative manipulation of planar objects and successfully identified several classes of manipulative actions. The developed decision tree-based algorithm was then tested on the data of a user study that involved a caregiver assisting an elderly person in the activities of daily living. The developed algorithm also successfully classifies manipulation actions in real-time. This information is particularly interesting as it does not depend on any particular sensor and thus can be used by other researchers to further study haptic communication.

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Richard, Paul, Damien Chamaret, François-Xavier Inglese, Philippe Lucidarme, and Jean-Louis Ferrier. "Human-Scale Virtual Environment for Product Design: Effect of Sensory Substitution." International Journal of Virtual Reality 5, no. 2 (January 1, 2006): 37–44. http://dx.doi.org/10.20870/ijvr.2006.5.2.2687.

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This paper presents a human-scale virtual environment (VE) with haptic feedback along with two experiments performed in the context of product design. The user interacts with a virtual mock-up using a large-scale bimanual string-based haptic interface called SPIDAR (Space Interface Device for Artificial Reality). An original self-calibration method is proposed. A vibro-tactile glove was developed and integrated to the SPIDAR to provide tactile cues to the operator. The purpose of the first experiment was: (1) to examine the effect of tactile feedback in a task involving reach-and-touch of different parts of a digital mock-up, and (2) to investigate the use of sensory substitution in such tasks. The second experiment aimed to investigate the effect of visual and auditory feedback in a car-light maintenance task. Results of the first experiment indicate that the users could easily and quickly access and finely touch the different parts of the digital mock-up when sensory feedback (either visual, auditory, or tactile) was present. Results of the of the second experiment show that visual and auditory feedbacks improve average placement accuracy by about 54 % and 60% respectively compared to the open loop case

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Bai, Dongming, Bai Chen, Fei Qi, Feng Ju, and Yaoyao Wang. "A sensor-less contact torque estimation and haptic feedback method in minimally invasive surgery." International Journal of Advanced Robotic Systems 16, no. 6 (November 1, 2019): 172988141988220. http://dx.doi.org/10.1177/1729881419882201.

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To satisfy the needs of surgeons for judging the contact state of the catheter robot and modify the operation accordingly, a novel contact torque estimation and haptic feedback method is proposed in this article. Using the vibrotactile feedback, the proposed method reminds the surgeon which bending unit of the robot contacts with human tissue and guides him to realize the disengagement. Based on a novel simplification of the driving force of the robot, a quasi-statics model is established to estimate the contact torque. Simulations are conducted based on Finite Element Method (FEM) to verify the accuracy of the quasi-statics model and the estimation method. A robot system composed of a catheter robot, a PC, a master-operator, and a wearable vibration glove is assembled according to this method. To verify the feasibility of this method, a contact torque estimation experiment and a vibrotactile feedback experiment are conducted in this article. The results show that this method is accurate and effective.

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Yoon, YooChang, Dongmin Moon, and Seongah Chin. "Fine Tactile Representation of Materials for Virtual Reality." Journal of Sensors 2020 (January 17, 2020): 1–8. http://dx.doi.org/10.1155/2020/7296204.

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The most important aspect of virtual reality (VR) is the degree by which a user can feel and experience virtual space as though it is reality. Until recently, the experience of VR had to be satisfied with operations using a separate controller along with the visual and auditory elements. However, for a far more realistic VR environment, users should be able to experience the delicacy of tactile materials. This study proposes tactile technology, which is inexpensive and easy to use. To achieve this, we analyzed the unique patterns of materials through image filtering and designed a computing model to deliver realistic vibrations to the user. In addition, we developed and tested a haptic glove so that the texture of the material can be sensed in a VR environment.

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