A Fingertip Glove with Motor Rotational Acceleration Enables Stiffness Perception When Grasping a Virtual Object

  • Vibol YemEmail author
  • Hiroyuki Kajimoto
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10904)


We developed a 3D virtual reality system comprising two fingertip gloves and a finger-motion capture device to deliver a force feedback sensation when grasping a virtual object. Each glove provides a pseudo-force sensation to a fingertip via asymmetric vibration of a DC motor. In this paper, we describe our algorithms for providing this illusionary force feedback, as well as visual feedback, which involved deforming the shape of a virtual object. We also conducted an experiment to investigate whether presenting pseudo-force sensation to the tip of the thumb and index finger during grasping enabled participants to interpret the material stiffness of a virtual object. We changed the initial vibration amplitude, which represents the reaction force when the thumb and the index finger initially contact the surface of an object, and asked participants to match each haptic feedback condition with a visual feedback condition. We found that most participants chose the rubber or wood material (task 1) and highly deformable material (task 2) when the initial vibration was weak, and chose the wood or aluminum (task 1) and non-deformable material (task 2) when the initial vibration was strong.


Fingertip glove Stiffness perception Motor-rotational acceleration VR interaction 



This work was partly supported by JSPS KAKENHI Grant Number JP17F17351, JP15H05923 (Grant-in-Aid for Scientific Research on Innovative Areas, “Innovative SHITSUKSAN Science and Technology”), and the JST-ACCEL Embodied Media Project.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.The University of Electro-CommunicationsChofuJapan

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