Presentation
Evaluating Technical Capabilities and Limitations of Haptic Gloves for Enhanced Healthcare Simulation Training
DescriptionHaptic gloves have the potential to enhance healthcare simulation training by allowing learners to interact with virtual objects using their hands and triggering sensations that simulate touch. While these features are promising, the effectiveness of haptic gloves in healthcare training has not been adequately researched, leaving many claims of effectiveness unverified. This presentation compares the technical capabilities and limitations of commercially available haptic gloves from a human factors perspective. We outline key technical capabilities, such as battery life, compatibility with various systems, and hardware specifications. Then, we delve into a technical performance assessment with examples from our experience integrating three haptic gloves into a virtual reality (VR) healthcare simulation for training defibrillation, offering insights into the implementation of these gloves into healthcare simulations. This comparison shows how technical capabilities of each glove may influence user experience and their potential role in improving learning outcomes in training environments.
This presentation reviews three commercially available haptic gloves at different price points: bHaptics TactGlove DK2, Manus Prime 3 Haptic XR, and SenseGlove Nova 2. The objective metrics used to compare the gloves are weight, claimed battery life, charge time, swappable battery capability, PC requirements, calibration needs, tracker requirements, haptic feedback locations, force feedback (restricting finger movement to mimic physical interactions), and price. We also explore subjective advantages and disadvantages of each glove in detail.
The bHaptics TactGlove DK2 weighs 0.24 - 0.25 lbs (107 g - 115 g) depending on size and offers a claimed battery life of 3.5 hours, with a charging time of around 2 hours. It does not have swappable batteries and does not require a PC, calibration, or external trackers. However, it requires hand and finger tracking from a VR headset, which can cause tracking performance issues. The haptic feedback is in the form of vibrations provided at the fingertips and wrist but does not include force feedback. It is the most affordable of the tested gloves with the pair priced at $249 USD.
The Manus Prime 3 Haptic XR glove is heavier at 0.46 lbs (209 g) with a VIVE 3.0 tracker attached and boasts a longer battery life of 10 hours, requiring 3 hours to charge fully. Unlike the bHaptics TactGlove DK2 glove, it comes with swappable batteries, but requires a PC, calibration, and an external tracker (VIVE 3.0 tracker) for use. External finger tracking is not necessary, because the glove itself captures finger motion and relays that data to the software. Haptic feedback is provided to the backs of the fingers and wrist. The Manus Prime 3 Haptic XR glove also does not provide force feedback and is more expensive, costing $3,878 USD for a pair, excluding the price of trackers and base stations.
Finally, the SenseGlove Nova 2 weighs 0.94 lbs (426 g) with a VIVE 3.0 tracker attached, has a claimed battery life of 3 hours, and has an estimated charge time of 4 hours when using a rapid charger. This glove does not have swappable batteries and requires a PC, calibration, and trackers. A Meta Quest 3 controller can be used as a tracker if the glove is used with a Meta Quest 3, reducing the complexity of using third-party trackers such as the VIVE 3.0. The Nova 2 also does not need external finger tracking, since it also captures finger motion, like the Manus Prime 3 Haptix XR glove. It offers a wider range of haptic locations, covering the index finger, thumb, wrist, and palm. Unlike the others, it provides force feedback with a pressure of 2 kg per finger (excluding the pinky). A pair of SenseGlove Nova 2 gloves is priced at $6,648 USD, excluding the price of trackers and base stations.
These considerations are important for determining which glove best aligns with specific training needs. For instance, glove cost, setup, and space should be considered to appropriately scale a simulation program for the number of participants. The complexity of the setup and need for technical support could be a deciding factor, especially for gloves that require additional trackers, as these setups are often cumbersome and space-intensive. Considerations such as battery life and the need for frequent recharging may influence whether it is practical to use the same gloves for multiple participants in quick succession. Finally, the need to train users on the setup process, particularly for gloves requiring extensive calibration or external trackers, should also be factored in, as complex systems tend to increase the potential for user error and can disrupt learners during training.
Tracking: The bHaptics TactGlove DK2 glove has the advantage of connecting directly to a VR headset via Bluetooth and does not require an external tracker or a PC. However, it has very diminished tracking precision. This is mainly due to the gloves obscuring the hands, making it harder for the headset to detect subtle differences in finger and hand movements; in some cases, tracking may even cease entirely at certain angles. The Manus Prime 3 Haptic XR and SenseGlove Nova 2 gloves are excellent choices due to their high precision with external trackers and internal finger tracking when properly calibrated. However, their reliance on external tracking infrastructure, such as VIVE base stations, can introduce additional factors that may lead to issues in the participant experience, potentially requiring interruptions during training to resolve calibration issues. For example, the requirement for line-of-sight between the base stations and the trackers can cause the gloves to become misaligned, resulting in them “floating” away from their intended positions.
Size and Weight: bHaptics TactGlove DK2 and Manus Prime 3 Haptic XR glove are similar in size, but Manus offers a slight edge with exposed fingertips, making it easier to put on. As additional capabilities were added to the gloves, the glove sizes and weights also increased. The Manus gloves are twice as heavy as the bHaptics gloves, and SenseGlove Nova 2 gloves were twice the weight of Manus gloves. Further, the SenseGlove glove is much bulkier and more challenging to put on and adjust independently.
Calibration: Once SenseGlove Nova 2 gloves are removed, they must be recalibrated before being used again, preventing the simulation facilitator from pre-calibrating them for the learner. While Manus Prime 3 Haptic XR gloves also require initial calibration, this process only needs to be done once due to AI integration, which filters out inaccurate sensor data. Manus gloves maintain calibration even after being taken on and off multiple times. Although bHaptics TactGlove DK2 gloves do not require manual calibration, they can experience tracking issues when near arm's length from the headset, or if the gloved fingers are not visible to the headset cameras.
Implementation: Since the bHaptics TactGlove DK2 uses hand tracking from the VR headset, scenarios in VR applications that already include hand-tracking interactions require minimal additional programming beyond defining when to trigger haptic feedback. In contrast, both Manus Prime 3 Haptic XR and SenseGlove Nova 2 gloves require development to integrate into existing scenarios. This is particularly true for SenseGlove gloves, where programming force feedback can be time-consuming.
Force Feedback: SenseGlove Nova 2 gloves are the only option we tested with force feedback. Although force feedback should stop fingers like interacting with a solid object, the glove force feedback was inconsistent, sometimes allowing one finger to pass through objects or restricting the hand too much, preventing realistic interaction in VR. Achieving a balance between realism and usability may significantly increase development time. Additional development might resolve interaction challenges but may not address the issue of inconsistent force feedback, which stems from hardware limitations.
This presentation reviews three commercially available haptic gloves at different price points: bHaptics TactGlove DK2, Manus Prime 3 Haptic XR, and SenseGlove Nova 2. The objective metrics used to compare the gloves are weight, claimed battery life, charge time, swappable battery capability, PC requirements, calibration needs, tracker requirements, haptic feedback locations, force feedback (restricting finger movement to mimic physical interactions), and price. We also explore subjective advantages and disadvantages of each glove in detail.
The bHaptics TactGlove DK2 weighs 0.24 - 0.25 lbs (107 g - 115 g) depending on size and offers a claimed battery life of 3.5 hours, with a charging time of around 2 hours. It does not have swappable batteries and does not require a PC, calibration, or external trackers. However, it requires hand and finger tracking from a VR headset, which can cause tracking performance issues. The haptic feedback is in the form of vibrations provided at the fingertips and wrist but does not include force feedback. It is the most affordable of the tested gloves with the pair priced at $249 USD.
The Manus Prime 3 Haptic XR glove is heavier at 0.46 lbs (209 g) with a VIVE 3.0 tracker attached and boasts a longer battery life of 10 hours, requiring 3 hours to charge fully. Unlike the bHaptics TactGlove DK2 glove, it comes with swappable batteries, but requires a PC, calibration, and an external tracker (VIVE 3.0 tracker) for use. External finger tracking is not necessary, because the glove itself captures finger motion and relays that data to the software. Haptic feedback is provided to the backs of the fingers and wrist. The Manus Prime 3 Haptic XR glove also does not provide force feedback and is more expensive, costing $3,878 USD for a pair, excluding the price of trackers and base stations.
Finally, the SenseGlove Nova 2 weighs 0.94 lbs (426 g) with a VIVE 3.0 tracker attached, has a claimed battery life of 3 hours, and has an estimated charge time of 4 hours when using a rapid charger. This glove does not have swappable batteries and requires a PC, calibration, and trackers. A Meta Quest 3 controller can be used as a tracker if the glove is used with a Meta Quest 3, reducing the complexity of using third-party trackers such as the VIVE 3.0. The Nova 2 also does not need external finger tracking, since it also captures finger motion, like the Manus Prime 3 Haptix XR glove. It offers a wider range of haptic locations, covering the index finger, thumb, wrist, and palm. Unlike the others, it provides force feedback with a pressure of 2 kg per finger (excluding the pinky). A pair of SenseGlove Nova 2 gloves is priced at $6,648 USD, excluding the price of trackers and base stations.
These considerations are important for determining which glove best aligns with specific training needs. For instance, glove cost, setup, and space should be considered to appropriately scale a simulation program for the number of participants. The complexity of the setup and need for technical support could be a deciding factor, especially for gloves that require additional trackers, as these setups are often cumbersome and space-intensive. Considerations such as battery life and the need for frequent recharging may influence whether it is practical to use the same gloves for multiple participants in quick succession. Finally, the need to train users on the setup process, particularly for gloves requiring extensive calibration or external trackers, should also be factored in, as complex systems tend to increase the potential for user error and can disrupt learners during training.
Tracking: The bHaptics TactGlove DK2 glove has the advantage of connecting directly to a VR headset via Bluetooth and does not require an external tracker or a PC. However, it has very diminished tracking precision. This is mainly due to the gloves obscuring the hands, making it harder for the headset to detect subtle differences in finger and hand movements; in some cases, tracking may even cease entirely at certain angles. The Manus Prime 3 Haptic XR and SenseGlove Nova 2 gloves are excellent choices due to their high precision with external trackers and internal finger tracking when properly calibrated. However, their reliance on external tracking infrastructure, such as VIVE base stations, can introduce additional factors that may lead to issues in the participant experience, potentially requiring interruptions during training to resolve calibration issues. For example, the requirement for line-of-sight between the base stations and the trackers can cause the gloves to become misaligned, resulting in them “floating” away from their intended positions.
Size and Weight: bHaptics TactGlove DK2 and Manus Prime 3 Haptic XR glove are similar in size, but Manus offers a slight edge with exposed fingertips, making it easier to put on. As additional capabilities were added to the gloves, the glove sizes and weights also increased. The Manus gloves are twice as heavy as the bHaptics gloves, and SenseGlove Nova 2 gloves were twice the weight of Manus gloves. Further, the SenseGlove glove is much bulkier and more challenging to put on and adjust independently.
Calibration: Once SenseGlove Nova 2 gloves are removed, they must be recalibrated before being used again, preventing the simulation facilitator from pre-calibrating them for the learner. While Manus Prime 3 Haptic XR gloves also require initial calibration, this process only needs to be done once due to AI integration, which filters out inaccurate sensor data. Manus gloves maintain calibration even after being taken on and off multiple times. Although bHaptics TactGlove DK2 gloves do not require manual calibration, they can experience tracking issues when near arm's length from the headset, or if the gloved fingers are not visible to the headset cameras.
Implementation: Since the bHaptics TactGlove DK2 uses hand tracking from the VR headset, scenarios in VR applications that already include hand-tracking interactions require minimal additional programming beyond defining when to trigger haptic feedback. In contrast, both Manus Prime 3 Haptic XR and SenseGlove Nova 2 gloves require development to integrate into existing scenarios. This is particularly true for SenseGlove gloves, where programming force feedback can be time-consuming.
Force Feedback: SenseGlove Nova 2 gloves are the only option we tested with force feedback. Although force feedback should stop fingers like interacting with a solid object, the glove force feedback was inconsistent, sometimes allowing one finger to pass through objects or restricting the hand too much, preventing realistic interaction in VR. Achieving a balance between realism and usability may significantly increase development time. Additional development might resolve interaction challenges but may not address the issue of inconsistent force feedback, which stems from hardware limitations.
Authors
Visiting Research Scholar
Vice Chair Innovation, Professor of Pediatrics in Emergency Medicine
Event Type
Oral Presentations
TimeTuesday, April 19:15am - 9:37am EDT
LocationPier 9
Simulation and Education (SE)