A Lightweight Exoskeleton Force Feedback Glove

The wearable force feedback glove provides a promising solution for enhancing immersion during teleoperation. In this study, lightweight five-finger exoskeleton (EFFG) was designed, enabling driving detection and flexible feedback. This wireless prototype weighs only 278 g. features bionic structure optimized linkage length to ensure operator safety while providing extensive coverage of the finger working space. Moreover, detailed illustration kinematic dynamic analyses, as well circuit structure, presented. With basis, an isomorphic teleoperation system is designed achieve Concurrently, force-based impedance controller proposed enable smooth precise Finally, performance EFFG evaluated in both unconstrained constrained environments, demonstrating that lightweight, capable detecting force,