Performance assessment of haptic devices for human–object interaction in virtual environment

The integration of physical and virtual reality is gaining increasing relevance, especially in contexts where the interaction between users and digital environments is essential. Virtual reality (VR) enables the simulation of sensory experiences, opening up new opportunities in fields such as industrial training. The quality of simulations depends on how accurately the virtual world replicates the behavior of real objects and the tactile feedback provided to users. Haptic gloves, which deliver tactile sensations during interaction with virtual objects, are among the most advanced tools in this field. This study focuses on characterizing the feedback parameters of the Senseglove Nova and Nova 2 haptic gloves, with the aim of optimizing the user–environment interaction in virtual reality. The primary objective of this study was to characterize the feedback parameters of Senseglove Nova and Nova 2 in virtual environments, with emphasis on identifying differences in object grasping between real and virtual conditions. In this context, angular data from hand movements in both real and virtual scenarios were analyzed and compared to verify their accuracy and enhance interaction with the virtual environment. The proposed methodology establishes a quantitative framework for evaluating haptic feedback accuracy, offering practical insights for the design of immersive training systems.