End Effector for a Kinesthetic Haptic Device Capable of Displaying Variable Size and Stiffness

A novel kinesthetic/tactile end effector capable of changing size and stiffness in a user’s hand is integrated with an existing three-degree-of-freedom kinesthetic haptic device. This system enables the creation of immersive virtual environments that engage both kinesthetic senses through the existing haptic device and cutaneous senses through the end effector’s changes in stiffness and size. Size change is achieved by closed loop control of air pressure within a pneumatic cavity enclosed by a flexible membrane, and stiffness is varied by controlling vacuum level in an outer layer of particle jamming material.