Lifelike virtual reality experiences using shape adaptive haptic gloves with digital twin

Abstract

Recent advancements in virtual reality (VR) demand immersive haptic interfaces, yet existing solutions face challenges in adaptability and realism. This paper introduces a shape-adaptive haptic glove leveraging digital twin technology to synchronize real-time physical feedback with virtual interactions. The novel bidirectional communication system bridges an ESP32 microcontroller and VR environment, enabling collision-based force feedback through servo-actuated tendons and vibrational motors. The glove achieves 97.4% overall kinematic accuracy (2.34° average angular deviation) via 3D-printed linkages optimized for anatomical fidelity, validated through empirical joint angle studies. A collision-locking mechanism dynamically modulates resistance, responding within 0.3 seconds to mimic real-world interactions. Experiments demonstrate precise adaptive gripping across virtual objects, with flexion tracking errors below 1.5%. The cost-effective, modular design supports rapid customization without compromising haptic fidelity, advancing applications in teleoperation, rehabilitation, and immersive training. By integrating hardware-software synergy and real-world biomechanical validation, this work pioneers accessible, highprecision haptics for next-generation human-computer interaction.