As a force feedback user interface, a haptic glove mechanism should be user-friendly and effective in providing force feedback to the user's fingers. In terms of its user-friendly characteristics, it should be easy to wear, lightweight, compact, and harmless to the fingers. In terms of effectiveness, it should provide a real and natural feeling to the user ranging from a gentle touch/grasp up to the ability to match the maximum force output of the human hand without constraining the finger movement. However, most existing haptic gloves are either too complicated or ineffective to provide a natural force feeling without some kind of design compromise.
An exoskeleton glove with a rigid coupling mechanism has been designed to reduce the actuator burden to one per finger. The kinematic coupling has been optimized to best reproduce the natural motion of each finger. The entire linkage system is able to lie in the space between fingers. The linkage system is composed of two sequential four-bar mechanisms as shown in Fig. 5. Force is applied by an SEA to the Lever which causes simultaneous motion in all of the finger joints.