Biomimetics, 2023 · DOI: 10.3390/biomimetics8010083 · Published: February 15, 2023
The study introduces a low-cost soft robotic glove designed for hand rehabilitation in virtual reality (VR). The glove uses inertial measurement units to track finger motion. It incorporates a motor-tendon system to provide force feedback to the fingertips, simulating the sensation of touching a virtual object. The glove employs a static threshold correction and a complementary filter to accurately calculate finger postures. The system uses a field-oriented control algorithm to manage the force applied to the fingers. The glove's functionality is demonstrated within a Unity-based VR interface, allowing users to experience haptic feedback while interacting with virtual objects, such as squeezing a soft ball.
The low cost of the glove (approximately $220 USD) makes it accessible to a larger population, offering a cost-effective solution for hand rehabilitation.
The integration of the glove with a VR interface allows for customized and engaging rehabilitation programs, potentially increasing patient motivation and training effectiveness.
The glove can serve as a basis for future applications in soft wearable haptics, such as gaming and remote control, expanding its potential use beyond rehabilitation.