Recent advancements in virtual reality and augmented reality call for light-weight and compliant haptic interfaces to maximize the task-performance interactivity with the virtual or extended environment. Noting this, we propose a haptic glove using a tendon-driven compliant robotic mechanism. Our proposed interface can provide haptic feedback to two fingers of a user, an index finger and a thumb. It can provide both cutaneous and kinesthetic feedback to the fingers by using the tendon-driven system. Each actuator is paired with a force sensor to exert the desired tension accurately. In order to optimize the perception of the kinesthetic feedback, we propose a perception-based kinesthetic feedback distribution strategy. We experimentally measured the force perception weight for peripheral interphalangeal (PIP) and metacarpophalangeal (MCP) joints. We observed no significant difference in the force perception between the two joints. Then, based on the obtained weights, our proposed force distribution method calculates the force for each joint. We also evaluated the effect of additional cutaneous feedback to the kinesthetic feedback, on the force perception at the fingertip. The experimental result has shown that additional cutaneous feedback has significantly increased the sensitivity of the human perception. Finally, we evaluated our proposed system and force distribution algorithm by conducting a human subject test. The experimental result indicates that the availability of the cutaneous feedback significantly improved the perceived realism and acuity of the contact force.

中文翻译：

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使用肌腱驱动的软机器人机制的触觉手套

虚拟现实和增强现实的最新进展需要轻量级和兼容的触觉界面，以最大限度地提高与虚拟或扩展环境的任务性能交互性。注意到这一点，我们提出了一种使用肌腱驱动的顺从机器人机制的触觉手套。我们提出的界面可以为用户的两个手指，食指和拇指提供触觉反馈。它可以通过使用肌腱驱动系统为手指提供皮肤和动觉反馈。每个执行器都与一个力传感器配对，以准确施加所需的张力。为了优化对动觉反馈的感知，我们提出了一种基于感知的动觉反馈分配策略。我们通过实验测量了外周指间 (PIP) 和掌指 (MCP) 关节的力感知权重。我们观察到两个关节之间的力感知没有显着差异。然后，根据获得的权重，我们提出的力分布方法计算每个关节的力。我们还评估了额外的皮肤反馈对动觉反馈的影响，对指尖力感知的影响。实验结果表明，额外的皮肤反馈显着提高了人类感知的灵敏度。最后，我们通过进行人体测试来评估我们提出的系统和力分布算法。实验结果表明，皮肤反馈的可用性显着提高了接触力的感知真实性和敏锐度。基于获得的权重，我们提出的力分布方法计算每个关节的力。我们还评估了额外的皮肤反馈对动觉反馈的影响，对指尖力感知的影响。实验结果表明，额外的皮肤反馈显着提高了人类感知的灵敏度。最后，我们通过进行人体测试来评估我们提出的系统和力分布算法。实验结果表明，皮肤反馈的可用性显着提高了接触力的感知真实性和敏锐度。基于获得的权重，我们提出的力分布方法计算每个关节的力。我们还评估了额外的皮肤反馈对动觉反馈的影响，对指尖力感知的影响。实验结果表明，额外的皮肤反馈显着提高了人类感知的灵敏度。最后，我们通过进行人体测试来评估我们提出的系统和力分布算法。实验结果表明，皮肤反馈的可用性显着提高了接触力的感知真实性和敏锐度。实验结果表明，额外的皮肤反馈显着提高了人类感知的灵敏度。最后，我们通过进行人体测试来评估我们提出的系统和力分布算法。实验结果表明，皮肤反馈的可用性显着提高了接触力的感知真实性和敏锐度。实验结果表明，额外的皮肤反馈显着提高了人类感知的灵敏度。最后，我们通过进行人体测试来评估我们提出的系统和力分布算法。实验结果表明，皮肤反馈的可用性显着提高了接触力的感知真实性和敏锐度。