Compact and Wide-Force-Range Magnetorheological Hand Exoskeleton for Kinesthetic Feedback in Teleoperation
Compact and Wide-Force-Range Magnetorheological Hand Exoskeleton for Kinesthetic Feedback in Teleoperation
This paper introduces a hand exoskeleton system using magnetorheological (MR) brakes to provide wide-range kinesthetic feedback during teleoperation. The device, weighing only 39.8 g, delivers braking torque from 0.01 to 0.918 Nm and renders fingertip forces up to 21 N with a back-driving force of 1.01 N. Experimental results show that the system enables users to discriminate object stiffness using kinesthetic feedback alone. In tele-grasping tasks, kinesthetic feedback achieved a 100% success rate and reduced object contact force by 28.2% compared to visual-only feedback, enhancing safety and immersion. Questionnaire data further indicate improvements in reliability, realism, and user confidence.
The study presents a compact magnetorheological hand exoskeleton that achieves a wide force feedback range (0.01 to 0.918 Nm torque) and demonstrates improved object stiffness discrimination and reduced contact forces in tele-grasping tasks compared to visual-only feedback.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- Control
- TeleoperatedOpen source S2
Reported numbers
braking torque range
0.01–0.918
View original evidence
mpact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving fo
Open source S3total mass
39.8
View original evidence
mpact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving fo
Open source S3fingertip force
≤21
View original evidence
mpact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving fo
Open source S3Reported success rate
100%
Reported trials
View original evidence
rce of 1.01 N. Experimental results show that the system allows users to discriminate object stiffness using kinesthetic feedback alone. In a tele-grasping task, when both conditions achieved a 100% success rate, kinesthetic feedback led to a 28.2% reduction in object contact force compared to visual feedback only, enhancing object safety and operator immersion. Questionnaire results further indicate that kinesthetic
Open source S4
- paper: not_reported
What remains unknown
Not established in the collected evidence: Environment, Data origin.
Reported performance applies to the described task. It does not establish general autonomy or deployment readiness.
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
arXiv:2611.12130v1 Announce Type: new Abstract: Hand kinesthetic feedback is crucial for restoring and enhancing human perception of force and displacement in robotic hand teleoperation. Wide perception range of force feedback is vital in rendering objects of different stiffness, especially for high-stiffness rendering. However, existing approaches struggle to achieve wide range of force feedback while maintaining co
Open source S2
mpact and wearable design. This paper presents a hand exoskeleton system employing magnetorheological (MR) brakes to provide a wide range kinesthetic feedback during teleoperation. The MR brake provides a braking torque ranging from 0.01 to 0.918 Nm, while maintaining a compact structure with a total mass of only 39.8 g. The proposed exoskeleton can render fingertip forces up to 21 N while maintaining back-driving fo
Open source S3
rce of 1.01 N. Experimental results show that the system allows users to discriminate object stiffness using kinesthetic feedback alone. In a tele-grasping task, when both conditions achieved a 100% success rate, kinesthetic feedback led to a 28.2% reduction in object contact force compared to visual feedback only, enhancing object safety and operator immersion. Questionnaire results further indicate that kinesthetic
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org