A Lightweight Wearable Multi-joint Force Feedback for High Definition Grasping in VR

Abstract

Various research develops kinesthetic gloves that only render force on the distal interphalangeal joints (DIP) and often require a complex mechanism. Our research proposes a novel design of a wearable haptic device enabling kinesthetic feedback to all finger joints to promote precise grasping in VR. We employ electrostatic-based force feedback to form a clutch mechanism that we extend to all finger joints. Using the electrostatic-based clutch allows us to maintain a thin and light form factor for devising the prototype. Our proposed method supports a blocking force of up to 30 N per joint.