The field of Tactile Internet (TI) is transporting physical interactions over vast distances as if they were near. This teleoperation method increases the quality of tele-engineering, telesurgery and many other fields. However, it requires the strict end to end latency constraints of a few ms, which is still out of reach. This thesis looks at the first step of this pipeline, the Human Machine Interface (HMI). We redesign a SenseGlove MK1, A VR haptic feedback glove, to reduce the latency to under 0.5 ms. We then use prediction to have an effective latency of less than -0.8 ms, creating the first Negative Latency Glove. This gives the rest of the TI system a larger latency budget than before.

VR gear is in the early stages of public use. A recent development is the use of haptic feedback and gloves to improve the immersion. This reports describes some of the challenges in this field, methods to stream haptic feedback in the form of audio, potential haptic protocols and contains the design process of a haptic feedback glove for SenseGlove.