Multi-modal Haptics Feedback Glove with Variable Stiffness Joints
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Solution Overview
Problem
Current haptic feedback gloves primarily provide single-modal feedback and fail to simulate both gripping and pinching force feedback modes, lacking the capability to integrate stiffness, temperature, and texture feedback simultaneously.
Innovation Solution
A multi-modal haptics feedback glove incorporating finger position tracking, joint movement angle measurement, fingertip force feedback units with soft actuators, and variable-stiffness joint actuators, along with temperature or texture feedback units, to provide simultaneous stiffness, temperature, and texture feedback, enabling both gripping and pinching force feedback modes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If single-modal feedback devices are used, then device complexity is reduced, but haptic feedback capability is insufficient
Solution Approach 1:
The patent combines multiple haptic feedback modalities (stiffness feedback through variable-stiffness joints, temperature feedback through heating/cooling elements, and texture feedback through variable-friction surfaces) into a single integrated feedback glove system. This merging of previously separate feedback mechanisms enables the glove to provide rich multi-modal haptic feedback while managing device complexity through unified design.
Solution Approach 2:
The feedback glove is designed as a universal device that can perform multiple haptic feedback functions simultaneously - providing stiffness, temperature, and texture feedback through different actuator types integrated into the glove structure. This multi-functionality allows a single device to replace multiple separate haptic devices.
2Adaptability or versatility
If force feedback is provided for both gripping and pinching modes, then adaptability to different grabbing modes is improved, but device complexity increases
Solution Approach 1:
The force feedback system is segmented into distinct functional components: variable-stiffness joint actuators at the finger joints provide gripping force feedback, while fingertip actuators provide pinching force feedback. This segmentation allows each component to be optimized for its specific function while working together to cover both grabbing modes without requiring a completely complex unified system.
Solution Approach 2:
The glove employs dynamic variable-stiffness joints that can adjust their stiffness characteristics in real-time based on the required gripping or pinching action. This dynamic adjustment capability allows the same joint mechanism to adapt to different grabbing modes, improving versatility while managing complexity through intelligent control rather than multiple fixed mechanisms.
3Adaptability or versatility
If multi-modal haptics feedback is integrated, then haptic feedback richness is improved, but manufacturing complexity increases
Solution Approach 1:
The manufacturing process is segmented into modular assembly steps for different haptic feedback components: variable-stiffness joints, temperature control elements, and texture actuator segments can be manufactured and tested separately before final integration into the glove. This modular approach simplifies manufacturing compared to building a fully integrated multi-modal system as a single complex unit.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The glove offers rich, immersive multi-modal haptic feedback, allowing intuitive interaction with virtual objects, while being lightweight and cost-effective, and capable of realistic force feedback for both gripping and pinching modes.
Implementation Method 1
the variable-stiffness sealing structure is inflated or deflated through the air pipe, and a stiffness of the joint actuator is controlled by controlling an air pressure inside the variable-stiffness sealing structure
Implementation Method 2
The soft actuator can bend and generate an elastic force; one end of the soft actuator is connected to the back of the hand, and the other end of the soft actuator is connected to the fingertip of the finger through a rigid connecting rod, so as to realize transmission of force
Data Source
AI summary
A multimodal tactile feedback glove, comprising a finger position tracking unit, which is used for measuring a spacial position of fingers; a movement angle measurement device, which is used for measuring a movement angle of each joint of fingers; a fingertip force feedback unit (1), which is arranged on a back side of a hand for providing the fingertip force feedback by a fingertip drive; a joint force feedback unit (2), which is arranged at the joints of fingers and for providing the joint force feedback by a variable stiffness joint drive; and a fingertip tactile feedback unit (3), which is selected from one of a temperature feedback unit, a texture feedback unit or a temperature-texture combined feedback unit, is arranged at a position on one side of the palm where the fingertip feedback unit (1) is connected with the fingertip, and is used for providing temperature feedback or texture feedback or simultaneous temperature and texture feedback of the fingertip. The force feedback from the feedback glove can simultaneously provide force feedback of two grasping modes: hand grip and pinch; The multimodal tactile fusion feedback including stiffness feedback, temperature feedback and texture feedback allows a user to have a rich multimodal tactile fusion feedback experience.