Haptic Stimulation Glove for Fine Motor Rehabilitation in Virtual Reality Environments

  • Edgar F. BorjaEmail author
  • Daniel A. LaraEmail author
  • Washington X. QuevedoEmail author
  • Víctor H. AndaluzEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10851)


This paper presents a fine motor rehabilitation system for upper limbs by using a virtual reality environment. For this purpose, a glove of stimulating bilateral haptic is built, which allows directly to determine the finger’s position through flexibility sensors. Also stimulate the medium and ulnar nerves of hand’s palm by using vibratory actuators in charge of feedback to contact with virtual surfaces. This system is based on bilateral communication between the virtual environment in the Unity 3D graphics engine and the haptic glove. It is responsible for analyzing the movements used by the patient and interact with the Oculus Rift and Leap Motion for an increased immersion of the patient in the virtual rehabilitation environment. In addition, it generates vibrating feedback submitted to contact with virtual objects. The connection and transmission of data is done through wireless technologies in charge of creating a reliable and real time communication. The patient performs exercises based on fine motor rehabilitation which they are feedback with haptic glove and validated by algorithms based on Euclidean distance. The experimental results show the correct operation of the glove and the virtual environments oriented to virtual rehabilitation systems.


Rehabilitation system Haptic glove Virtual reality 



The authors would like to thanks to the Corporación Ecuatoriana para el Desarrollo de la Investigación y Academia – CEDIA for the financing given to research, development, and innovation, through the CEPRA projects, especially the project CEPRA-IX-2015-05, Tele-Operación Bilateral Cooperativo de Múltiples Manipuladores Móviles; also to Universidad de las Fuerzas Armadas ESPE, Universidad Técnica de Ambato, Escuela Politécnica de Chimborazo, and Escuela Politécnica Nacional, and Grupo de Investigación en Automatización, Robótica y Sistemas Inteligentes, GI-ARSI, for the support to develop this paper.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Universidad de las Fuerzas Armadas ESPESangolquíEcuador

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