The aim of this study is to develop a compact haptic glove that can present a variety of grasping sensations. This paper proposes a mechanism of compressing a finger joint to induce friction torque between the link and joint. In order to reduce weight and produce greater force, shape memory alloys were chosen as an actuator. The result of an experiment showed a linear relationship between the compressing force of a finger joint and friction torque, and suggested the effectiveness of the proposed mechanism. The prototype system suggested the proposed device is small and lightweight compared to the conventional device.

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