{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T17:27:43Z","timestamp":1781112463253,"version":"3.54.1"},"reference-count":81,"publisher":"Association for Computing Machinery (ACM)","issue":"3","license":[{"start":{"date-parts":[[2024,8,22]],"date-time":"2024-08-22T00:00:00Z","timestamp":1724284800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by-nc-sa\/4.0\/"}],"funder":[{"name":"NST","award":["CRC21011"],"award-info":[{"award-number":["CRC21011"]}]},{"DOI":"10.13039\/501100003696","name":"ETRI","doi-asserted-by":"crossref","award":["24ZC1200"],"award-info":[{"award-number":["24ZC1200"]}],"id":[{"id":"10.13039\/501100003696","id-type":"DOI","asserted-by":"crossref"}]},{"name":"NRF","award":["2022R1A4A5033689"],"award-info":[{"award-number":["2022R1A4A5033689"]}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["Proc. ACM Interact. Mob. Wearable Ubiquitous Technol."],"published-print":{"date-parts":[[2024,8,22]]},"abstract":"<jats:p>Haptic gloves have enabled the immersive and realistic sense of interacting with objects in virtual reality (VR) by providing coordinated haptic sensation with visual information. However, previous approaches mainly focused on providing feedback on the fingertips or distal phalanges, with minimal attention paid to the other phalanges. We propose EStatiG, a haptic glove that delivers force feedback over all finger regions from the fingertip to the proximal phalanges. Here, we enrich the perception of object shape during grasping tasks in VR. To do this, we developed the double layer and multi-stacked electrostatic clutches (ES clutches) to form an electrostatic brake (ES brake) for each phalanx. With the lightweight structure (130 grams), we enabled high-resolution force feedback while maintaining wearability and usability. We validated the user perception performance when using the proposed device. Our results showed a significant improvement in the perception of phalanx angle positions and the overall experience of realism and immersion when interacting with various object shapes in VR.<\/jats:p>","DOI":"10.1145\/3678567","type":"journal-article","created":{"date-parts":[[2024,9,9]],"date-time":"2024-09-09T14:36:21Z","timestamp":1725892581000},"page":"1-29","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":10,"title":["EStatiG: Wearable Haptic Feedback with Multi-Phalanx Electrostatic Brake for Enhanced Object Perception in VR"],"prefix":"10.1145","volume":"8","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4872-7634","authenticated-orcid":false,"given":"Nicha","family":"Vanichvoranun","sequence":"first","affiliation":[{"name":"KAIST, Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0009-6366-6954","authenticated-orcid":false,"given":"Hojeong","family":"Lee","sequence":"additional","affiliation":[{"name":"KAIST, Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0009-0000-7223-3872","authenticated-orcid":false,"given":"Seoyeon","family":"Kim","sequence":"additional","affiliation":[{"name":"Seoul National University, Gwanak-ro, Gwanak-gu, Seoul, Republic of Korea and KAIST"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3780-5350","authenticated-orcid":false,"given":"Sang Ho","family":"Yoon","sequence":"additional","affiliation":[{"name":"KAIST, Daehak-ro, Yuseong-gu, Daejeon, Republic of Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"320","published-online":{"date-parts":[[2024,9,9]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1109\/3DUI.2016.7460024"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/2076354.2076404"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.3389\/fbioe.2020.541105"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2008.2010934"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","unstructured":"Prawit Boonmee Benchaporn Jantarakongkul and Prajaks Jitngernmadan. 2020. VR Training Environment for Electrical Vehicle Assembly Training in EEC. In 2020 - 5th International Conference on Information Technology (InCIT). 238--242. https:\/\/doi.org\/10.1109\/InCIT50588.2020.9310947","DOI":"10.1109\/InCIT50588.2020.9310947"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2005.1492758"},{"key":"e_1_2_2_7_1","volume-title":"IEEE Proceedings. VR 2005","author":"Borst Christoph W","year":"2005","unstructured":"Christoph W Borst and Arun P Indugula. 2005. Realistic virtual grasping. In IEEE Proceedings. VR 2005. Virtual Reality, 2005. IEEE, 91--98."},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2002.1011262"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11605-007-0279-8"},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2019.8798155"},{"key":"e_1_2_2_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/AIM.2015.7222547"},{"key":"e_1_2_2_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2761938"},{"key":"e_1_2_2_13_1","doi-asserted-by":"publisher","DOI":"10.1145\/3126594.3126599"},{"key":"e_1_2_2_14_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2010.2047588"},{"key":"e_1_2_2_15_1","volume-title":"Juan Jos\u00e9 L\u00f3pez Delgado, and Katherine J Kuchenbecker","author":"Culbertson Heather","year":"2014","unstructured":"Heather Culbertson, Juan Jos\u00e9 L\u00f3pez Delgado, and Katherine J Kuchenbecker. 2014. One hundred data-driven haptic texture models and open-source methods for rendering on 3D objects. In 2014 IEEE haptics symposium (HAPTICS). IEEE, 319--325."},{"key":"e_1_2_2_16_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2018.2813403"},{"key":"e_1_2_2_17_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2016.7487194"},{"key":"e_1_2_2_18_1","doi-asserted-by":"publisher","DOI":"10.1177\/1045389X18799474"},{"key":"e_1_2_2_19_1","volume-title":"delta.3. Retrieved","author":"Dimension Force","year":"2024","unstructured":"Force Dimension. 2024. delta.3. Retrieved May 1, 2024 from https:\/\/www.forcedimension.com\/products\/delta."},{"key":"e_1_2_2_20_1","doi-asserted-by":"publisher","DOI":"10.1049\/ip-epa:19990574"},{"key":"e_1_2_2_21_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376470"},{"key":"e_1_2_2_22_1","doi-asserted-by":"publisher","DOI":"10.1145\/3610899"},{"key":"e_1_2_2_23_1","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2016.7463168"},{"key":"e_1_2_2_24_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00170-016-9120-4"},{"key":"e_1_2_2_25_1","doi-asserted-by":"publisher","DOI":"10.1145\/3472749.3474782"},{"key":"e_1_2_2_26_1","doi-asserted-by":"publisher","DOI":"10.1007\/BF02478510"},{"key":"e_1_2_2_27_1","doi-asserted-by":"publisher","DOI":"10.1145\/2858036.2858487"},{"key":"e_1_2_2_28_1","unstructured":"HaptX. 2023. HaptX. Retrieved May 1 2024 from https:\/\/haptx.com\/."},{"key":"e_1_2_2_29_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201900895"},{"key":"e_1_2_2_30_1","doi-asserted-by":"publisher","DOI":"10.1145\/3242587.3242657"},{"key":"e_1_2_2_31_1","doi-asserted-by":"publisher","DOI":"10.1002\/aisy.202200174"},{"key":"e_1_2_2_32_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376719"},{"key":"e_1_2_2_33_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROMAN.2018.8525637"},{"key":"e_1_2_2_34_1","doi-asserted-by":"publisher","DOI":"10.5555\/1127216.1127222"},{"key":"e_1_2_2_35_1","volume-title":"WriMouCon: Wrist-Mounted Haptic Controller for Rendering Physical Properties in Virtual Reality. In 2023 IEEE World Haptics Conference (WHC). IEEE, 34--40","author":"Jo Minjae","year":"2023","unstructured":"Minjae Jo, Dongkyu Kwak, and Sang Ho Yoon. 2023. WriMouCon: Wrist-Mounted Haptic Controller for Rendering Physical Properties in Virtual Reality. In 2023 IEEE World Haptics Conference (WHC). IEEE, 34--40."},{"key":"e_1_2_2_36_1","doi-asserted-by":"publisher","DOI":"10.1113\/jphysiol.1979.sp013048"},{"key":"e_1_2_2_37_1","doi-asserted-by":"publisher","DOI":"10.3758\/s13414-011-0202-y"},{"key":"e_1_2_2_38_1","doi-asserted-by":"publisher","DOI":"10.1145\/3184743"},{"key":"e_1_2_2_39_1","doi-asserted-by":"publisher","DOI":"10.1145\/3351252"},{"key":"e_1_2_2_40_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2006.1642178"},{"key":"e_1_2_2_41_1","doi-asserted-by":"publisher","DOI":"10.1186\/s11671-021-03536-9"},{"key":"e_1_2_2_42_1","doi-asserted-by":"publisher","DOI":"10.1145\/3550310"},{"key":"e_1_2_2_43_1","doi-asserted-by":"publisher","DOI":"10.1145\/3428361.3428404"},{"key":"e_1_2_2_44_1","volume-title":"The 34th annual ACM symposium on user interface software and technology. 414--430.","author":"Nith Romain","unstructured":"Romain Nith, Shan-Yuan Teng, Pengyu Li, Yujie Tao, and Pedro Lopes. 2021. DextrEMS: Increasing dexterity in electrical muscle stimulation by combining it with brakes. In The 34th annual ACM symposium on user interface software and technology. 414--430."},{"key":"e_1_2_2_45_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICMA.2007.4303974"},{"key":"e_1_2_2_46_1","volume-title":"Wearable haptic systems for the fingertip and the hand: taxonomy, review, and perspectives","author":"Pacchierotti Claudio","year":"2017","unstructured":"Claudio Pacchierotti, Stephen Sinclair, Massimiliano Solazzi, Antonio Frisoli, Vincent Hayward, and Domenico Prattichizzo. 2017. Wearable haptic systems for the fingertip and the hand: taxonomy, review, and perspectives. IEEE transactions on haptics 10, 4 (2017), 580--600."},{"key":"e_1_2_2_47_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.202100263"},{"key":"e_1_2_2_48_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2019.8816098"},{"key":"e_1_2_2_49_1","volume-title":"d.]. SHVPS Single Channel High Voltage Power Supply. Retrieved","author":"Voltron Project Peta","year":"2024","unstructured":"Project Peta pico Voltron. [n. d.]. SHVPS Single Channel High Voltage Power Supply. Retrieved May 1, 2024 from https:\/\/petapicovoltron.com\/single-channel-high-voltage-power-supply."},{"key":"e_1_2_2_50_1","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2008.4543670"},{"key":"e_1_2_2_51_1","doi-asserted-by":"publisher","DOI":"10.3389\/frvir.2021.738613"},{"key":"e_1_2_2_52_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202301044"},{"key":"e_1_2_2_53_1","doi-asserted-by":"publisher","DOI":"10.1002\/admt.201800313"},{"key":"e_1_2_2_54_1","doi-asserted-by":"publisher","DOI":"10.1007\/s10854-022-09543-5"},{"key":"e_1_2_2_55_1","volume-title":"Force can overcome object geometry in the perception of shape through active touch. Nature 412, 6845","author":"De-La-Torre Gabriel","year":"2001","unstructured":"Gabriel Robles-De-La-Torre and Vincent Hayward. 2001. Force can overcome object geometry in the perception of shape through active touch. Nature 412, 6845 (2001), 445--448."},{"key":"e_1_2_2_56_1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7759176"},{"key":"e_1_2_2_57_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC49131.2021.9517220"},{"key":"e_1_2_2_58_1","volume-title":"Wireless Mobile Communication and Healthcare, Gregory M.P. O'Hare, Michael J. O'Grady, John O'Donoghue","author":"Secco Emanuele Lindo","unstructured":"Emanuele Lindo Secco and Andualem Maereg Tadesse. 2020. A Wearable Exoskeleton for Hand Kinesthetic Feedback in Virtual Reality. In Wireless Mobile Communication and Healthcare, Gregory M.P. O'Hare, Michael J. O'Grady, John O'Donoghue, and Patrick Henn (Eds.). Springer International Publishing, Cham, 186--200."},{"key":"e_1_2_2_59_1","doi-asserted-by":"publisher","DOI":"10.1145\/3586183.3606771"},{"key":"e_1_2_2_60_1","doi-asserted-by":"publisher","DOI":"10.1109\/CERMA.2009.55"},{"key":"e_1_2_2_61_1","doi-asserted-by":"publisher","DOI":"10.1145\/3242587.3242656"},{"key":"e_1_2_2_62_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41598-019-45422-6"},{"key":"e_1_2_2_63_1","doi-asserted-by":"publisher","DOI":"10.1145\/1265957.1265959"},{"key":"e_1_2_2_64_1","unstructured":"Novint Technologies. 2024. Novint Falcon. Retrieved May 1 2024 from https:\/\/hapticshouse.com\/pages\/novints-falcon-haptic-device."},{"key":"e_1_2_2_65_1","doi-asserted-by":"publisher","DOI":"10.1145\/3411764.3445099"},{"key":"e_1_2_2_66_1","volume-title":"Design and development of a lightweight, low-cost cylindrical electrostatic clutch. Engineering Science and Technology, an International Journal 49","author":"Thilakarathna Roshan","year":"2024","unstructured":"Roshan Thilakarathna and Maroay Phlernjai. 2024. Design and development of a lightweight, low-cost cylindrical electrostatic clutch. Engineering Science and Technology, an International Journal 49 (2024), 101600."},{"key":"e_1_2_2_67_1","doi-asserted-by":"publisher","DOI":"10.1109\/TOH.2023.3266199"},{"key":"e_1_2_2_68_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.2990080"},{"key":"e_1_2_2_69_1","doi-asserted-by":"publisher","DOI":"10.1109\/HAPTICS.2014.6775473"},{"key":"e_1_2_2_70_1","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCA.2003.812600"},{"key":"e_1_2_2_71_1","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2020.3015058"},{"key":"e_1_2_2_72_1","doi-asserted-by":"publisher","DOI":"10.1109\/VRW58643.2023.00155"},{"key":"e_1_2_2_73_1","doi-asserted-by":"publisher","DOI":"10.1145\/3526113.3545674"},{"key":"e_1_2_2_74_1","doi-asserted-by":"publisher","DOI":"10.1109\/VR.2019.8797921"},{"key":"e_1_2_2_75_1","volume-title":"Toward whole-hand kinesthetic feedback: A survey of force feedback gloves","author":"Wang Dangxiao","year":"2018","unstructured":"Dangxiao Wang, Meng Song, Afzal Naqash, Yukai Zheng, Weiliang Xu, and Yuru Zhang. 2018. Toward whole-hand kinesthetic feedback: A survey of force feedback gloves. IEEE transactions on haptics 12, 2 (2018), 189--204."},{"key":"e_1_2_2_76_1","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3173660"},{"key":"e_1_2_2_77_1","doi-asserted-by":"publisher","DOI":"10.1109\/TNSRE.2007.891401"},{"key":"e_1_2_2_78_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3172498"},{"key":"e_1_2_2_79_1","doi-asserted-by":"publisher","DOI":"10.1109\/VRAIS.1996.490509"},{"key":"e_1_2_2_80_1","doi-asserted-by":"publisher","DOI":"10.1145\/3313831.3376358"},{"key":"e_1_2_2_81_1","doi-asserted-by":"publisher","DOI":"10.3758\/s13414-017-1453-z"}],"container-title":["Proceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3678567","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/dl.acm.org\/doi\/pdf\/10.1145\/3678567","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,8,21]],"date-time":"2025-08-21T14:43:23Z","timestamp":1755787403000},"score":1,"resource":{"primary":{"URL":"https:\/\/dl.acm.org\/doi\/10.1145\/3678567"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,8,22]]},"references-count":81,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2024,8,22]]}},"alternative-id":["10.1145\/3678567"],"URL":"https:\/\/doi.org\/10.1145\/3678567","relation":{},"ISSN":["2474-9567"],"issn-type":[{"value":"2474-9567","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,8,22]]},"assertion":[{"value":"2024-09-09","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}]}}