Sensaglove v1

This is the final version of my first vibrotactile dataglove, built in august 2007. The circuit, which was tested using a protoboard, is soldered using a perfboard, and the communication to the PC is achieved via the parallel port. A ULN2003 darlington array is used to supply enough current to the actuators. This version includes small potentiometers in line with the actuators to adjust possible differences between the actuators. The size of the actuators has been reduced and they are placed in contact with the fingertip for an improved sensation. The elastic band has Velcro and this allows the actuators to be mounted on an existent dataglove (like the CyberGlove) that measures gestures. This new version also features the use of a Nylon glove, instead of the green rubber one, and a custom-made case for the circuit.


Communication  Parallel port
Output channels 5
Output intensity control Software PWM
Output amplifier ULN2003 darlington array
Actuators ERM actuators mounted on the fingertips
Input channels 5
Input sensors Electric wire and aluminium foil
Additional features Led indicators
Adjustable actuators on the fingertips with elastic bands
Power switch



Martinez, J., Molina, J.P., Diseño y construcción de un sistema inmersivo y de un guante con retorno táctil para el modelado de objetos 3D con las manos. Bachelor’s thesis, University of Castilla-La Mancha, 2007. [PDF]