Design of a wearable haptic interface for precise finger interactions in large virtual environments

In this article, we present a new wearable haptic interface developed at CEA-LIST for precise finger interactions within virtual reality applications in large environments. The hand movements are tracked using a stereoscopic visual tracking system, allowing large movements in free space. Moreover, the device integrates two three degrees of freedom with force feedback robots associated with index and thumb fingers, allowing virtual objects fine manipulation. Finally, a two degrees of freedom tactile actuator is integrated under the pulp of each fingertip in order to improve the high frequency response of the haptic interface and to provide information on the texture and the shape of the virtual objects manipulated.