Current haptic devices often provide tactile feedback via only vibrations
and kinesthetic feedback based on heavy and cumbersome
exoskeletons hindering users’ motion. This paper presents an innovative,
lightweight, flexible and easy-to-wear haptic glove providing
realistic tactile feedback through normal indentation and lateral skin
stretch in addition to vibrations, as well as high-fidelity kinesthetic
feedback through strings pulled by servo motors. Unlike current systems,
it is inexpensive and tactile feedback is achieved through small
vibration motors embedded on the fingertips of the glove. Normal
indentation and shear forces are created through moving platforms
applying pressure to the skin. Kinesthetic feedback is provided by
small strings attached to the glove and pulled to simulate, unlike
previous systems, both soft and hard virtual object manipulation.
The glove is controlled by a small microcontroller receiving input
from a computer sending commands to the motors and actuators.
Study results suggest that the user is capable to perceive better directional
information and surface geometry when vibration is added to
the fingertip. Users perform better at distinguishing softness levels
when the differences in softness are distinct.