Haptic Display Glove Capable of Force/Vibration/Temperature

Since human skin has tactile receptors for force, vibration, and temperature, if it can be presented, it is considered possible to present various textures based on the theory of haptic primary colors. In this study, we propose a haptic glove that enables the display of the three haptic elements. A haptic glove for one finger was developed by combining a thread drive actuator for force display from tactile to deep sensation and a vibration/temperature display device specialized for tactile presentation. We also showed that it is possible to present multiple softness to the finger. It is capable that combine the proposed haptic device and the vibro-thermal tactile unit to display Haptic Primary Colors. With our system, sensing of the finger is also capable of using a depth-sensing camera.