KinesCeTI: A Modular and Size-Adaptable Force Feedback Glove with Interchangeable Actuation for the Index and Thumb

TL;DR

KinesCeTI presents a modular, size-adaptable force feedback glove for the index and thumb, enabled by interchangeable thimbles and two actuation modules (ratchet-pawl and one-way clutch) within a bidirectional tendon-pulley system. The design emphasizes ergonomic adaptability, backdrivability, and modular actuation to support passive, active, and variable feedback in AR/VR. Three user studies demonstrate generally good hand fit and mobility, improved virtual task performance with actuation-enabled feedback, and perceptible softness rendering, while highlighting latency and weight considerations for future refinement. Overall, KinesCeTI offers a versatile, low-cost platform for haptics research enabling comparative testing of multiple modalities within a single glove.

Abstract

Force feedback gloves in haptic applications remain constrained by limited adaptability, simplified feedback and fixed architectures that limit force feedback versatility. To address these challenges, we present KinesCeTI, a modular force feedback exoskeleton for the index and thumb, designed as a multipurpose device adaptable to a wide range of hand sizes. The glove incorporates interchangeable thimbles for fingertip or phalanx attachment and a bidirectional tendon transmission that supports both passive and active feedback. It is combined with a modular actuation design, where different feedback systems may be attached. The system was tested with two actuation modules: a compliant ratchet-pawl braking mechanism for passive feedback and a novel one-way clutch for variable active feedback, newly introduced here. The system was evaluated in three user studies with 20 participants each, assessing ergonomics, actuation performance and usability in both real and virtual tasks. Results indicate that the glove adapts to different hand sizes and provides effective feedback with both mechanisms, highlighting its potential as a versatile platform for haptic research.

Figures (15)

• Figure 1: Overview of the KinesCeTI exoskeleton, showing dorsal placement, Main Hub and attachment system.
• Figure 2: Thumb structure: (a) frontal view and ratchet-pawl mechanism for the bevel system, (b) rear view and ratchet-pawl mechanism for the simple ab/adduction shaft and (c) side view highlighting the main components.
• Figure 3: Linkage algorithm: (a) successful configuration with variables indicated, (b) invalid configuration due to insufficient linkage length, (c) invalid configuration caused by intersection with the finger at fingertip attachment and (d) valid configuration using a modified arched geometry for the second linkage.
• Figure 4: Algorithm results for (a) index and (b) thumb. Green tiles mark successful combinations, with values indicating the arched height.
• Figure 5: Thimble system: (a) compliant latch design and placement, (b) latch operation, (c) TPU fingertip thimble and attachment, (d) strap thimble and attachment and (e) TPU fingertip thimble designs for index and thumb.