# Title Team Members TA Documents Sponsor
23 VR Force Feedback Gloves Restricting Side to Side Finger Movement
Yoonseo Choi
Aaron Gros
Sunghoon Kim
Jason Paximadas design_document1.pdf
**Team Members:**
- Aaron Gros (aygros2)
- Yoonseo Choi (yschoi4)


Current commercial force feedback VR gloves are too expensive for regular consumers and are only targeted towards industry and research. Open source force feedback VR gloves are economically accessible to regular consumers as long as they’re willing to spend some time putting them together. However, they are bulky and don’t restrict the finger’s side to side movement. The latter would be desired for a greater sense of immersion when for example grabbing an object between the sides of your fingers.


We propose a new design for force feedback VR gloves that are still economically accessible to the regular consumer and that restrict the finger’s side to side movement as well as back and forward movement. The result would be that if a user tried to grab an object in VR with the sides of their fingers, this movement would be reflected in VR, and the movement of the fingers would be restricted when they collide with the object in VR. The same would be the case for trying to grab an object with the fingers’ back and forwards movement.


These are some commercial alternatives that are too expensive for regular consumers: Sence Gloves and HaptiX.

Lucid Gloves is the most successful open source alternative but it lacks side to side force feedback and is bulky.

**Solution Components:**


This includes the physical glove and its mechanical components that will enable the electronics to do their job. We will design and 3D print this component. It will consist of a mount to place all the other components on, a spider leg like fixture attached near the knuckle on one end and on the finger on the other end, and guides along the finger to hold the string.

**Back and Forwards Actuator:**

We will have a string attached to an actuator on one end and a finger tip on the other. The actuator will either be a small motor or an electromagnetic brake. The actuator will resist the extension of the string, which will apply force feedback to the fingers.

**Side to Side Actuator:**

We will have a plastic mechanism attached to an actuator around the knuckle on one end and a finger tip on the other. The actuator will either be a small motor or an electromagnetic brake. This actuator will resist the movement of the plastic mechanism therefore providing force feedback to the fingers.

**Back and Forwards Sensing:**

The string mentioned above will also be attached to a potentiometer. This will measure the movement of the string and therefore calculate the position of the finger.

**Side to Side Sensing:**

The plastic mechanism mentioned above will also be attached to a potentiometer. The movement of the mechanism will be the same as the side to side movement of the finger.


Although the final product should be wireless, to be able to focus on the force feedback components and not make the gloves too bulky, we won’t be incorporating a battery into the design and will instead have a wired connection.

**Processing and IO:**

We will use the ESP32 to read all the sensors and actuate all the motors as well as send the necessary signals to the computer.

**Criterion for Success:**

The gloves are able to:

- accurately track the finger’s position
- restrict the finger’s side to side movement
- restrict the finger’s back and forwards movement
- recreate the finger’s motion in VR
- correctly restrict the finger’s movement when they are in contact with a VR object


Srinija Kakumanu, Justin Naal, Danny Rymut

Featured Project

**Problem:** When working out at home, without a trainer, it’s hard to maintain good form. Working out without good form over time can lead to injury and strain.

**Solution:** A mat to use during at-home workouts that will give feedback on your form while you're performing a variety of bodyweight exercises (multiple pushup variations, squats, lunges,) by analyzing pressure distributions and placement.

**Solution Components:**

**Subsystem 1: Mat**

- This will be built using Velostat.

- The mat will receive pressure inputs from the user.

- Velostat is able to measure pressure because it is a piezoresistive material and the more it is compressed the lower the resistance becomes. By tracking pressure distribution it will be able to analyze certain aspects of the form and provide feedback.

- Additionally, it can assist in tracking reps for certain exercises.

- The mat would also use an ultrasonic range sensor. This would be used to track reps for exercises, such as pushups and squats, where the pressure placement on the mat may not change making it difficult for the pressure sensors to track.

- The mat will not be big enough to put both feet and hands on it. Instead when you are doing pushups you would just be putting your hands on it

**Subsystem 2: Power**

- Use a portable battery back to power the mat and data transmitter subsystems.

**Subsystem 3: Data transmitter**

- Information collected from the pressure sensors in the mat will be sent to the mobile app via Bluetooth. The data will be sent to the user’s phone so that we can help the user see if the exercise is being performed safely and correctly.

**Subsystem 4: Mobile App**

- When the user first gets the mat they will be asked to perform all the supported exercises and put it their height and weight in order to calibrate the mat.

- This is where the user would build their circuit of exercises and see feedback on their performance.

- How pressure will indicate good/bad form: in the case of squats, there would be two nonzero pressure readings and if the readings are not identical then we know the user is putting too much weight on one side. This indicates bad form. We will use similar comparisons for other moves

- The most important functions of this subsystem are to store the calibration data, give the user the ability to look at their performances, build out exercise circuits and set/get reminders to work out

**Criterion for Success**

- User Interface is clear and easy to use.

- Be able to accurately and consistently track the repetitions of each exercise.

- Sensors provide data that is detailed/accurate enough to create beneficial feedback for the user


- Designing a circuit using velostat will be challenging because there are limited resources available that provide instruction on how to use it.

- We must also design a custom PCB that is able to store the sensor readings and transmit the data to the phone.