Investigation of methods for constructing gloves with tactile and force feedback for virtual reality and telecontrol of anthropomorphic manipulators

Aims. Devices that allow using the functionality of natural hand movements are of the greatest interest. The purpose of this study is to select areas of research at the intersection of several fields of science – biomechanics and cybernetics to develop scientific and technical approaches to track the movements of the operator's fingers and form feedback tactile and force communication received from the control object to achieve a new level of accuracy in work with virtual and with real objects by converting virtual contact action into physical. Methods. Methods of force feedback were implemented according to which they can be divided into two groups: active and passive feedback. Findings. As a result of the study, the main technologies used to implement various functionalities of the virtual reality glove were identified: measuring hand positions and feedback generation. The main advantages of the planned development were also identified: the ability to digitise up to 16 finger joints, tactile and force feedback, and moderate cost, a benchmark for the mass market. Conclusion. The development of the design of the glove will be implemented using a kinematic scheme based on the kinematics of the human hand, considering the requirements of aesthetics and ergonomics of the solution. As a sensor system, it is planned to use digital Hall sensors with a capacity of up to 14 bits, high speed and, at the same time, small dimensions, allowing them to be installed directly inside the swivel joints.