Journal of Bionic Engineering (2025) 22:684–702 https://doi.org/10.1007/s42235-024-00642-z

A Soft Glove with Proprioceptive Sensing and Multi-modal Haptic  Feedback for VR and Telerobotic Applications 

Debadrata Sarkar1  · Amit Kumar2  · Aman Arora1

1 Human Centered Robotics and Cybernetics Group, CSIR-Central Mechanical Engineering Research Institute,  Durgapur 713209, West Bengal, India 

2 Advanced Design and Analysis Group, CSIR-Central  Mechanical Engineering Research Institute,  Durgapur 713209, West Bengal, India

Abstract 

This research paper introduces a soft VR glove that enhances how users interact with virtual objects. It seamlessly  integrates discrete modules for sensing and providing haptic feedback, encompassing tactile and kinaesthetic aspects  while prioritizing wearability and natural finger movements. The glove employs custom-designed flexible bend sensors  with carbon-impregnated film for in-situ joint angle tracking, simplifying the sensing system and enhancing portability.  A multi-modal haptic feedback approach includes an innovative pneumatically actuated tactile feedback technique and  a motor-tendon-driven kinaesthetic feedback system, providing exceptional realism in virtual object manipulation. The  glove’s kinaesthetic feedback lets users perceive virtual objects’ size, shape, and stiffness characteristics. Psychophysical  investigations demonstrate how readily the users acclimate to this hardware and prove each module’s effectiveness and  synergistic operation. This soft VR glove represents a minimalist, lightweight, and comprehensive solution for authentic  haptic interaction in virtual environments, opening new possibilities for applications in various fields. 

Keywords Virtual reality and interfaces · Tactile feedback · Haptics and haptic interfaces · Soft sensors and actuators