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.

中文翻译：

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由形状记忆合金和柔性拉伸传感器驱动的软触觉手套

触觉技术使我们能够体验触觉和力觉，而无需将自己暴露在特定环境中。它还允许使用虚拟现实设备获得更加身临其境的体验。本文介绍了一种用于动觉感知的软触觉手套的开发。它重量轻且柔软，可实现更自然的手部运动。该原型用两个形状记忆合金 (SMA) 弹簧驱动两个手指。已经进行了弹簧的有限元 (FE) 模拟以设置执行器的尺寸。灵活的拉伸传感器向系统提供反馈，以计算连接到手指的电缆的张力。由于要拾取的物体的重量和尺寸可能不同，因此该控件可以为任何手部位置生成多个可识别的力水平。手套可以产生三个级别的力（100、200 和 300 克），以便更轻松地评估是否正常工作。经过快速训练，我们实现了对 15 名志愿者进行各种顺序模拟力量的测试。我们还向志愿者询问了舒适度、全球体验和简单性的体验）。结果在两个方面都令人满意：手套完成了它的功能，用户对它感到舒适。