KinesCeTI: A Modular and Size-Adaptable Force Feedback Glove with Interchangeable Actuation for the Index and Thumb

Abstract

Force feedback gloves in haptic applications remain constrained by limited adaptability, simplified feedback, and fixed architectures that limit force feedback versatility. To address these challenges, we present KinesCeTI, a modular force feedback exoskeleton for the index and thumb, designed as a multipurpose device adaptable to a wide range of hand sizes. The glove incorporates interchangeable thimbles for fingertip or phalanx attachment and a bidirectional tendon transmission that supports both passive and active feedback. It is combined with a modular actuation design, where different feedback systems may be attached. The system was tested with two actuation modules: a compliant ratchet-pawl braking mechanism for passive feedback and a novel one-way clutch for variable active feedback, newly introduced here. The system was evaluated in three user studies with 20 participants each, assessing ergonomics, actuation performance and usability in both real and virtual tasks. Results indicate that the glove adapts to different hand sizes and provides effective feedback with both mechanisms, highlighting its potential as a versatile platform for haptic research.