TNO Haptic Glove
Transcutaneous Electrical Nerve Stimulation (TENS) is an emerging technology that creates haptic feedback by directly stimulating the nervous system. It offers a lightweight and energy-efficient alternative to mechanical systems, with strong potential to enhance immersion in virtual and mixed reality applications, particularly for training, education, and assistive use. By enabling users to “feel” virtual objects, it can improve skill acquisition, safety, and realism in complex tasks.
This project focuses on the development of wearable textile electrodes (“textrodes”) integrated into a glove with ten tactile actuators. Developed in collaboration with TNO and Simulatie Centrum Maritiem (SimCenMar), the glove demonstrates how flexible, comfortable textiles can be combined with electrotactile stimulation to enable realistic hand interactions in virtual environments. The research explored how knitting and embroidery techniques influence electrode performance, including comfort, skin contact, and signal quality.
Electrotactile feedback works by sending controlled electrical pulses through the skin, stimulating nerves to create sensations such as pressure or vibration. Compared to traditional systems, it allows for compact, high-resolution feedback but requires careful calibration, as users differ in sensitivity. Tests with a small user group showed that participants could distinguish object properties like hardness and softness, confirming the effectiveness of the textile electrodes.
Challenges remain, including variability in user perception, skin-electrode contact, and lack of standardization. Future research will focus on improving reliability, optimizing textile structures, and developing adaptable systems that respond to body movement, with the long-term goal of full-body haptic feedback.
The project was led by Sarah Pichon and carried out by Saxion’s research group Sustainable & Functional Textiles in collaboration with TNO’s Human-Machine Teaming group. It was funded by Simulatie Centrum Maritiem (SimCenMar).
