Layer Jammers in a Simulated Environment Soft Haptic (S.E.S.H.) Glove

The field of haptics is constantly seeking better wearable kinesthetic haptic devices. Devices that can render a wider range of impedances and transition from high transparency to high stiffnesses while also being compliant. Such kinesthetic haptic devices are desirable for VR/AR as well as telerobotic systems. We draw inspiration from the field of soft robotics and present a layer jamming based approach to wearable haptic devices. In this work, we explore vacuum-based layer jammers, characterize their jamming force versus key characteristics, and explore the design rules regulating their performance. We present a theoretical analysis, comparing the behavior of our layer jammers to results from classical beam theory, and we select one motif from which to build a demonstration device. We present a haptic glove consisting of layer jammers that provide kinesthetic haptic feedback. We demonstrate our proposed soft haptic glove through a Unity-based virtual environment, in which a user can grasp objects through our jamming glove which resists user motion.