Hand haptic interface incorporating 1D finger pad and 3D fingertip force display devices

The present paper introduces a hand haptic interface for use in palpation training in a virtual reality environment. The developed hand haptic interface consists of novel finger pad force display devices and a 3D fingertip haptic display device. The total number of displayed points is 14. The finger pad force display devices are open-loop controlled by a time interval control. The design concept, the specifications of the finger pad force display, and the results of experimental evaluations of the hand haptic interface are presented.