可提供指尖二维方向力反馈的多指触觉手套，提升遥控操作精度。
The N2D Haptic Glove: A Multi-Finger Glove for 2D Directional Force Feedback for Contact Rich Manipulation
- 用缆绳传动实现指尖平面方向力反馈，透明度高。
- 相比视觉或单轴反馈，接触力误差降低37%，操作更稳定。
- 适合机器人遥操作、虚拟现实及演示学习场景。
人类在操控过程中依赖指尖方向性受力来探测和调节接触，但多数可穿戴触觉手套仅提供振动或单轴力反馈，导致力的方向不明确。缺乏方向提示时，用户需仅凭视觉推断接触力，常造成过度按压、控制不一致及操作精度下降。本文提出N2D触觉手套，一种多指可穿戴设备，采用缆绳传动机制实现高透明度的平面屈伸方向指尖力反馈。通过桌面验证和用户实验，在机器人手臂与手部遥操作任务中表明，相比纯视觉和单轴触觉基线，平面指尖反馈显著降低接触力误差，提升试验间一致性，并改善整体用户体验。研究证实，N2D触觉手套及基于方向性手指反馈的设备，是接触密集型遥操作、沉浸式虚拟现实仿真及机器人示范学习的有前景技术。该系统的软硬件将全部开源，访问地址：https://ucsdarclab.github.io/n2d-glove/
原文摘要 · Abstract (English)
Humans rely on directional fingertip forces to probe and regulate contact during manipulation, yet most wearable haptic gloves render only vibration or single-axis force, leaving force direction ambiguous. Without directional cues, users must infer contact force from vision alone, often leading to over-pressing, inconsistent control, and reduced precision in robotic teleoperation. We present the N2D Haptic Glove, a multi-finger wearable device that renders planar flexion-extension fingertip forces using capstan-drive transmissions for high-transparency force feedback. Through benchtop validations and a user study involving haptic teleoperation of a robotic arm and hand, we demonstrate that compared to visual-only and single-axis haptic baselines, planar fingertip feedback significantly reduces contact force error during precise manipulation, improves trial-to-trial consistency, and enhances overall user experience in axial probing tasks. These findings establish the N2D Haptic Glove and directional finger-based haptics devices as a promising modality for contact-rich teleoperation, immersive virtual reality simulations, and robot learning from demonstrations. N2D Haptic Glove's hardware and software system will be fully open-sourced at \href{https://ucsdarclab.github.io/n2d-glove/}{this https URL}.
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