Semi-Solid Stretchable Carbon Nanotubes Inkpad for Hand-Based Haptic Interaction

Dexterity and perceptual abilities of the hand are crucial in virtual reality (VR) interactions. This necessitates haptic gloves capable of accurately measuring finger movements and ensuring comfort, a challenging combination that demands both high sensitivity and stretchability. A flexible sensor fabricated from semi-solid material CNTs-Inkpad composed of carbon nanotubes (CNTs) mixed with silica gel is proposed and its real-time response can be achieved by controlling the ratio. Its semi-solid form harnesses CNTs' high conductivity and sensitivity, avoiding structural cracking in solid CNTs during extensive stretching, thus the semi-solid form can adapt to various hand gestures. This mechanism enables the CNTs-Inkpad to function as strain sensors with high gauge factors (GF = 16.99) and high extensibility (350%). By integrating ten CNTs-Inkpad sensors and five vibrators, a thin and lightweight haptic glove is developed with high sensitivity and stretchability. The glove enables collaborative measurement of all finger joints required for typical gestures in VR interactions, suitable for motion detection and haptic feedback. This study introduces a new flexible sensor fabricated from semi-solid material CNTs-Inkpad composed of carbon nanotubes (CNTs) mixed with silica gel. The sensor offers high sensitivity and stretchability. The semi-solid structure enables seamless adaptation to various hand gestures. With a remarkable GF of 16.99 and extensibility up to 350%, it facilitates motion detection in VR interactions. image