A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic Feedback for VR and Telerobotic Applications  

作　　者：Debadrata Sarkar Amit Kumar Aman Arora 

机构地区：[1]Human Centered Robotics and Cybernetics Group,CSIR-Central Mechanical Engineering Research Institute,Durgapur,713209,West Bengal,India [2]Advanced Design and Analysis Group,CSIR-Central Mechanical Engineering Research Institute,Durgapur,713209,West Bengal,India

出　　处：《Journal of Bionic Engineering》2025年第2期684-702,共19页仿生工程学报(英文版)

摘　　要：This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability. A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic haptic interaction in virtual environments, opening new possibilities for applications in various fields.

关 键 词：Virtual reality and interfaces Tactile feedback Haptics and haptic interfaces Soft sensors and actuators 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]