Variable Shape and Stiffness Feedback System for VR Gloves Using SMA Textile Actuator

Currently, when direct human contact is limited owing to the coronavirus era, virtual reality systems are a technology that enables interaction without spatial restrictions. In this study, system capable of feedbacking various shapes and stiffness touching an object in was conceived using SMA textile actuator, which shape memory alloy (SMA) remembers by training at 500 °C for 15 min with tools fixed origin, it returns 40.13 or higher Joule heating. actuators were fabricated zigzag stitching 0.5 mm intervals. Various feedback because on gloves interfere movement finger joints force levels divided based number operating, possible three levels. We verified matches sensing points placed created Unity 3D, software making VR events 3D logs. measured forces each level diameters 0.4 0.6 mm. The results showed 2.3 N mm; however, its rigidity, actuator appropriate. Finally, implementing one point gloves, we operation from occurrence event control through MCU relay.