Design of data glove and arm type haptic interface

In this paper a new data glove with tactile feedback and an exsoskeleton arm type haptic interface are addressed. The data glove has 11 degree of freedom, and vibrators are mounted on the tip of 5 glove fingers. The arm type haptic interface has 5 degree of freedom. It can be worn on operator arm, and the operator can obtain real time force feedback. The combination of data glove and arm type haptic interface provide both external forces of contact and internal forces of grasping. They can be used to complete a complex work such as teleoperation and to interact with virtual environment. Some experiments have been done to prove its usefulness.