Haptic Interfaces: A One-DoF Cable-Driven Haptic Glove with Kinesthetic Force
Feedback

Our device is a one degree of freedom force feed-
back wearable haptic glove that can give varying force feedback
based on a virtual environment and desired physical properties.
The device is table mounted but attaches to the user’s hand.
The force feedback on the system is primarily kinesthetic and
provides force feedback onto the distal phalanges of the finger.
A motor with an encoder is used to provide kinesthetic force
feedback along with a wire pulley system. We demonstrate that
we are able to output force at specific positions of the finger as
well as vary the amounts of force applied. We also are able to
report user feedback and what types of forces users can feel.