FlexTorque: innovative haptic interface for realistic physical interaction in virtual reality

Kinesthetic stimulations, produced by forces exerted on the body, are sensed by mechano-receptors in the joints, tendons, and muscles. When a human hand holds a heavy object, its weight produces torques in the wrist, elbow, and shoulder joint. Each muscle generates a torque at a joint that is the product of its contractile force and its moment arm at that joint. The idea behind FlexTorque is to reproduce human muscle structures that allow us to perform dexterous manipulations and interactions. The result is a wearable haptic interface that presents realistic kinesthetic stimulus to the human arm.