Threshold test on grasping diameter for evaluation of passive force display glove system precision

We developed a passive-type force display glove consisting only of passive elements like brakes to generate the forces used when displaying virtual objects. The glove is thus elementally safe. However, previous research implies that while this glove system can be used to present VR objects, large errors remain. In this research, we therefore worked toward high accuracy conversion for the passive force display glove to minimize the grip sensation error. The software for presentation of cylinder-type VR objects was improved, and threshold testing of the grasping diameter was conducted to clarify the grip size discrimination ability. From the results obtained, we considered the accuracy requirements for the glove system. The accuracy requirements become part of a design template for a new passive-type force display glove.