Muscle Modeling between Upper Arm and Lower Arm for Wearable Haptic Sleeve for Force Feedback of Virtual Reality

In the realm of virtual environments, hand haptic technology plays a crucial role in capturing the nuanced movements of a user’s hands and fingers. This is complemented by a haptic sleeve that bridges the gap between the arm and hand, effectively translating these movements into corresponding actions performed by a robot avatar within the virtual space. Furthermore, these innovative devices are adept at relaying the force and texture felt by the robot avatar as it interacts with objects in the virtual environment back to the user. This interaction crafts an immersive experience, mirroring the sensation of physically touching and manipulating the objects. The prediction of wearer's joint torques uses the Hill-type model and is made through the flexion movement of the elbow joint. As the user engages in object manipulation through the robot avatar, the haptic feedback disseminates throughout the entire arm, enriching the user experience with a wide spectrum of tactile sensations. This advancement in haptic technology significantly enhances the realism of robot operation, thereby improving the dynamics of human-robot interaction.