Haptic Rendering of Dynamic Hand Interaction for an Impedance-Controlled Glove

Novel haptic gloves open the door to haptic simulation of virtual interactions directly with our hands. However, rendering of dynamic hand interactions poses many challenges, due to the many degrees of freedom of hand simulations, and the undersensed and underactuated nature of haptic gloves. In this work, we propose a haptic rendering method of dynamic hand interaction for an impedance-controlled undersensed and underactuated haptic glove, following an optimization strategy. In addition, to improve rendering transparency, we design a compensation strategy for the lag between hand tracking and hand simulation. We show that our haptic rendering algorithm is effective for dynamic sliding, rolling and grasping of virtual objects using a Dexmo glove, and we demonstrate its superiority over previous work.