This report presents the results of designing and implementing an independent finger joint force feedback system for a tactile sensation simulator in virtual reality (VR) environments. The system aims to enhance user interaction by providing precise force feedback at individual finger joints, thereby improving the realism of virtual object manipulation.

The proposed system consists of a wearable exoskeleton with actuators that independently apply force feedback to each finger joint. The design incorporates:

Mechanical Structure: A lightweight, ergonomic framework that allows natural hand movements while supporting force feedback.

Actuation Mechanism: Miniature servo motors that generate controlled resistance at metacarpophalangeal , proximal interphalangeal , and distal interphalangeal joints.

Sensors and Control: Embedded force and position sensors to dynamically adjust feedback intensity based on user interactions in VR.

Software Integration: A real-time control algorithm that synchronizes force feedback with VR interactions, ensuring responsive and realistic touch sensations.

The system was built and integrated with a VR simulation to evaluate its performance. Key aspects tested include:

Force Precision and Response Time: The actuators provided forces up to 5N per joint with an average response time of 20 ms, ensuring smooth interaction with virtual objects.

User Comfort and Wearability: The lightweight exoskeleton (weighing approximately 250g) was tested for extended wear without discomfort.

Interaction Accuracy: Users successfully differentiated between virtual objects of varying stiffness and textures with over 85% accuracy, demonstrating enhanced tactile perception.

System Latency: The end-to-end system latency, including sensor feedback and actuation, was maintained below 30 ms, aligning with VR real-time interaction requirements.

The independent finger joint force feedback system significantly improved the realism of VR interactions. The ability to apply localized force feedback to each joint allowed for more nuanced object manipulation, such as grasping, pressing, and sliding motions. Users reported increased immersion and tactile awareness, with a preference for the system over traditional haptic gloves.

This research successfully developed and implemented an independent finger joint force feedback system for VR applications. Future improvements include optimizing actuator efficiency, refining control algorithms, and integrating additional sensory modalities (e.g., temperature and texture simulation) to further enhance tactile realism in VR environments.