A Soft Haptic Glove Actuated with Shape Memory Alloy and Flexible Stretch Sensors

Haptic technology allows us to experience tactile and force sensations without the need to expose ourselves to specific environments. It also allows a more immersive experience with virtual reality devices. This paper presents the development of a soft haptic glove for kinesthetic perception. It is lightweight and soft to allow for a more natural hand movement. This prototype actuates two fingers with two shape memory alloy (SMA) springs. Finite element (FE) simulations of the spring have been carried out to set the dimensions of the actuators. Flexible stretch sensors provide feedback to the system to calculate the tension of the cables attached to the fingers. The control can generate several recognizable levels of force for any hand position since the objects to be picked up can vary in weight and dimension. The glove can generate three levels of force (100, 200 and 300 g) to evaluate more easily the proper functioning. We realized tests on 15 volunteers simulating forces in various order after a quick training. We also asked volunteers about the experience for comfort, global experience and simplicity). Results were satisfactory in both aspects: the glove fulfilled its function, and the users were comfortable with it.