INSTITUTO POLITÉCNICO NACIONAL

ESCUELA SUPERIOR DE INGENIERÍA

MECÁNICA Y ELÉCTRICA
U.P.A

HAPTIC GLOVE DESIGN FOR

TELEOPERATION OF OBJECTS WITH
VISUAL FEEDBACK

Members:
Ayala Lozano Juan Francisco

Martínez Paredes Jonathan

Méndez Romero Daniel

advisers : Ing. Israel Vázquez Cianca

 Necessity
 Detect shapes and hardness of different distant objects.
 Get a proper grip for don´t damage the objects
 Objective

 Desing a glove of haptic technology that allows to feel

shapes and hardness of different objects, besides
providing a force feedback and through a vision system
and image acquisition to get a visual feedback.
 State of the Art

Haptics: is the science of applying touch

sensation and control to interaction with
computer applications.
Teleoperation: is a group of technologies
that include the operation to distance.
Haptic devices
The CyberGlove motion
capture system has been used
in a wide variety of real-world
applications, including digital
prototype evaluation, virtual
reality biomechanics, and
animation.
The CyberTouch can generate
simple sensations such as
pulses or sustained vibration,
and they can be used in
combination to produce complex
tactile feedback patterns.
The CyberGrasp system is an
innovative force feedback
system for your fingers and
hand. It lets you "reach into
your computer" and grasp
computer-generated or tele-
manipulated objects.
Customer requirements
Table 1. Classification of requirements
Measurable engineering
terms
Table 2 Translation to measurable engineering terms
Desirable weight
requirements
Generation of
concepts
C= 4x1x4x4x3x4x4x5x3x4x4x4x5x2x4x4=
471 859 200.
 Concept evaluation
 The evaluation of concepts is the
selection of the best design concept,
by the application of four filters :

 Feasibility
 Avalaible technology

 Based on customer requirements

 Through decision matrix

Feasibility evaluation

C= 3x1x3x2x3x4x3x4x3x2x2x4x3x2x4x4 =
11 943 936
Technology assessment
availability

C= 3x1x3x1x2x4x3x2x2x1x2x4x1x1x4x4=
110 592.
 Evaluation based on
customer requirements

C=2x1x2x1x2x4x2x2x2x1x2x4x1x1x4x4 =
32 768
 Winning Concept
 Precision potentiometers were used to sense the position
of the glove (opening) in addition to using tendons and
actuators for feedback opposition forces, since the
mechanism of the glove is moved by the user's hand and
in turn the opening of the clip will be sensed by precision
potentiometers and contact between the gripper and the
object will be indicated by load cell while the gripper
mechanism is driven by servo motors. The communication
of both the glove and the gripper with the PC to control,
respectively charge will be made through serial
communication with a pic microcontroller for sending and
receiving information to be processed on the PC using
Visual Basic software, communication between both
systems will be through a global communication network,
to obtain the image of the workspace will be used by a
webcam and Visual Basic software to send and receive the
image, so too will the deployment of the same on the PC
screen of the glove.