Tendon transmission efficiency of a two-finger haptic glove

This paper presents a two-fingered haptic interface named RML-glove. With this system, the operator can feel the shape and size of virtual 3D objects, and control a robot through force feedback. The tendon driven system makes this haptic glove a lighter and portable system that fits on a bare hand, and adds a haptic sense of force feedback to the fingers without constraining their natural movement. In order to explore the effect of cable friction and frictional losses in this system, experiments were conducted to investigate the impact of different variables including pulleys´ active arc, tendon velocity, as well as cable tension and lubrication.