Fig. 6

Real-time tactile feedback analysis. a Force and vibration response, demonstrating the real-time feedback capability by analyzing force sensor and vibration motor signals when varying forces are applied to the index and ring fingers. b Temperature sensation response showing signal variations when the cold pack and hand warmer are applied to the index and ring fingers, resulting in cooling and heating of the corresponding Peltier elements in the glove. c Nuanced signal responses from different fingers reflecting varying contact degrees during the contact of the robotic finger with an object