SoftGlove
Finger Vibrotactile Feedback
D.A.M. Koene (TU Delft - Electrical Engineering, Mathematics and Computer Science)
S.A. Brackenhoff (TU Delft - Electrical Engineering, Mathematics and Computer Science)
C.J.M. Verhoeven – Mentor (TU Delft - Electronics)
M.C. Lam – Mentor (SenseGlove)
M. Spirito – Graduation committee member (TU Delft - Electronics)
J. Dong – Graduation committee member (TU Delft - DC systems, Energy conversion & Storage)
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Abstract
In this report the finger vibrotactile subsystem of the SoftGlove wearable haptic feedback glove is discussed. This system is an upgrade over the vibrotactile feedback that the current SenseGlove haptic feedback glove provides. The designed system consists of a linear resonant actuator (LRA) on each finger, which is controlled by a dedicated LRA driver over I2C. To overcome addressing limitations of the drivers, an I2C switch is used to be able to communicate with each driver individually. The system is characterized both in terms of latency and vibration strength. The peak-to-peak vibration strength is measured to be 1.44 G and a 10 % to 90 % rise and fall time of 44 ms from rest to the maximum vibration strength. Furthermore, the system is integrated with the other subsystems of the SoftGlove on a PCB.