DextrES: Wearable Haptic Feedback for Grasping in VR via a Thin Form-Factor Electrostatic Brake
summary
DextrES is a soft wearable glove that uses an electrostatic brake built from 100 µm steel strips and a thin dielectric to render on-demand kinesthetic resistance alongside piezo cutaneous cues; modular 3D-printed guides and Velcro make it hand-size agnostic. The clutch produces up to 20 N holding force (about 2 kg) per finger, the prototype weighs less than 8 g per finger, initially needs ~1.5 kV (later reduced toward 200 V), and a 10-person study shows reduced virtual-object penetration for pincer, power and parallel grasps but not a tight lateral grasp.
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