Fig. 4

Exploration of the temperature detection and feedback. a Schematic showing the interplay between the temperature sensor in the robotic hand and the Peltier element in the glove for precise temperature modulation. b Linear response of the NTC thermistor to temperature changes. c Visualization demonstrating the ability of the Peltier element to reach specific high and low temperatures. d Control strategy for the Peltier element, including adjustments to current flow duration and off periods. The result demonstrates that a wide range of temperatures is realized linearly, from approximately 30 °C to 80 °C. e Thermal imaging results displaying the effective implementation of segmented temperature control in the glove