$6.9^{\circ }$ for orientation and $\text{3.6} \, {\text{mm}}$ for position in combined motions, and generates force at the thimble, with an average error of less than 8.6% under two finger postures. The recognition accuracy, quantifying the rate of correctly identified forces applied in eight directions, reached an average of $76.0 \%$. Consequently, we validated the multidirectional active force feedback performance of the Flexible Shaft-driven mechanism and identified directions for further improvement." /> $6.9^{\circ }$ for orientation and $\text{3.6} \, {\text{mm}}$ for position in combined motions, and generates force at the thimble, with an average error of less than 8.6% under two finger postures. The recognition accuracy, quantifying the rate of correctly identified forces applied in eight directions, reached an average of $76.0 \%$. Consequently, we validated the multidirectional active force feedback performance of the Flexible Shaft-driven mechanism and identified directions for further improvement." />

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Journal Article A Novel Flexible Shaft-Driven Mechanism for Multidirectional Active Force Feedback in Haptic Gloves: A Preliminary Study
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Authors
Daegeun Park, Hojeong Lee, Sang Ho Yoon, Sung-Uk Jung
Issue Date
2026-10
Citation
IEEE Robotics and Automation Letters, v.11, no.10, pp.11118-11125
ISSN
2377-3766
Publisher
IEEE
Language
English
Type
Journal Article
DOI
https://dx.doi.org/10.1109/LRA.2026.3723322
Abstract
We present a novel Flexible Shaft-driven mechanism capable of delivering multidirectional active force feedback in response to natural finger movements in a haptic glove. The multidirectional active force feedback enables the haptic glove to achieve realistic dynamic interactions. It enhances the feeling of embodiment in remote or virtual applications. This letter verifies the validity of the novel Flexible Shaft-driven mechanism in terms of multidirectional active force feedback. The Flexible Shaft-driven mechanism consists of an exoskeletal structure where two linear actuators per finger are paired with two flexible shafts. By independently controlling the velocity of each shaft, the mechanism generates active flexion/extension and abduction/adduction movements of the fingers. We evaluated the mechanism’s accuracy in kinematics, force generation, and recognition of multidirectional force feedback. Experimental results show that the mechanism’s thimble closely follows the simulated trajectory, with an average error of less than $6.9^{\circ }$ for orientation and $\text{3.6} \, {\text{mm}}$ for position in combined motions, and generates force at the thimble, with an average error of less than 8.6% under two finger postures. The recognition accuracy, quantifying the rate of correctly identified forces applied in eight directions, reached an average of $76.0 \%$. Consequently, we validated the multidirectional active force feedback performance of the Flexible Shaft-driven mechanism and identified directions for further improvement.
Keyword
Wearable robotics, prosthetics and exoskeletons, haptics and haptic interfaces
KSP Keywords
Active force, Average error, Dynamic interaction, Force Feedback, Force generation, Haptic glove, Haptics and Haptic Interfaces, Linear actuator, Preliminary study, Recognition accuracy, finger movements
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