RML Glove—An Exoskeleton Glove Mechanism With Haptics Feedback

This paper presents the design, implementation, and experimental validation of a haptic glove mechanism: the RML glove (Robotics and Mechatronics Lab). The designed haptic interface is a lightweight, portable, and self-contained mechatronic system that fits on a bare hand and provides haptic force feedback to each finger of the hand without constraining their movement. In order to experimentally test the new design, teleportation with this glove for mobile robot navigation is also studied. By comparing teleportation experiments with and without force feedback, the results show that this new admittance (using force as input and position as output) glove with force feedback can provide effective force feedback to the user and augment telepresence.