Mechanical Sciences
Mechanical Sciences
Mechanical Sciences
Articles | Volume 17, issue 1
Articles | Volume 17, issue 1
https://doi.org/10.5194/ms-17-195-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-17-195-2026
© Author(s) 2026. This work is distributed under
the Creative Commons Attribution 4.0 License.
Articles | Volume 17, issue 1
Research article
 | 
09 Mar 2026
Research article |  | 09 Mar 2026

Design and dual-loop control of a wearable electric force-feedback device for virtual training

Zhexue Ge, Liming Zhang, Haiyang Sun, Suiyu Chen, Xu Luo, and Yongmin Yang

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Short summary
Wearable haptic feedback remains challenging in virtual training. This paper presents a direct current servo-motor-driven force-feedback device for limb interaction. A cam angle–force model is established, and a dual closed-loop control scheme is applied to improve force accuracy under varying loads. Experiments and virtual maintenance training show rapid collision response, with force and angle errors within 4.6 %, enhancing realism  and immersion. 
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