User evaluation of cylindrical electrostatic clutch based haptic force feedback glove in teleoperation system

Motivated by the potential of robotic teleoperation systems to augment the capabilities of both human operators and controlled robots, we have developed a wearable haptic force feedback glove that enables operators to control the index finger of a 3D-printed robot hand. Conventional force feedback haptic gloves predominantly utilize rigid actuators such as electric motors and pneumatic cylinders, which are encumbered by safety concerns, weightiness, and intricate transmission mechanisms. To overcome these challenges, our research focuses on evaluating a lightweight, cost-effective feedback glove utilizing an electrostatic clutch and a flexible rack and pinion gear finger tracking mechanism. Evaluation through participant experiments indicates a positive reception of the haptic force feedback glove, with users generally expressing satisfaction regarding its weight, comfort, ease of use, and overall performance. Importantly, we evaluated these three areas considering gender as an individual factor. However, further refinement of the haptic feedback system may be necessary to enhance user experience and address any concerns raised by participants. Moreover, the proposed glove could hold potential for application in virtual reality grasping scenarios, providing users with realistic haptic feedback experiences.