Journal of Intelligent & Robotic Systems

, Volume 85, Issue 3–4, pp 413–429 | Cite as

Novel Haptic Device Using Jamming Principle for Providing Kinaesthetic Feedback in Glove-Based Control Interface

  • Igor Zubrycki
  • Grzegorz Granosik
Open Access


This paper presents a new type of wearable haptic device which can augment a sensor glove in various tasks of telemanipulation. We present the details of its two alternative designs jamming tubes or jamming pads, and their control system. These devices use the jamming phenomena to change the stiffness of their elements and block the hand movement when a vacuum is applied. We present results of our experiments to measure static and dynamic changes in stiffness, which can be used to change the perception of grabbing hard or soft objects. The device, at its current state is capable of resisting forces of up to 7 N with 5 mm displacement and can simulate hardness up to the hardness of a rubber. However, time necessary for a complete change of stiffness is high (time constant 0.5 s); therefore, additional cutaneous interface was added in a form of small vibration motors. Finally, we show an application of the haptic interface in our teleoperation system to provide the operator with haptic feedback in a light weight and simple form.


Haptic device Haptics and haptic interfaces Jamming Soft robotics Robot control interface Human-robot interaction 


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Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (, which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

Authors and Affiliations

  1. 1.Institute of Automatic ControlLodz University of TechnologyŁódźPoland

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