Development of a slim haptic glove using McKibben artificial muscles

Abstract

In this paper, a light-weight and wearable haptic glove system is introduced which is designed for virtual environments. In order to reduce the weight of the system, micro McKibben artificial muscles are used and 2-port solenoid valve pneumatic system was developed for faster response. Hydraulic system was also developed to actuate artificial muscles, so that we can overcome softness and inaccuracy of pneumatic system due to the compressibility of air. We verify the functionality and usefulness of the proposed system by synchronizing it with a virtual environment ？ 2006 ICASE.