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

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

doi:10.5194/ms-17-195-2026

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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Views and downloads (calculated since 09 Mar 2026)

Month	HTML	PDF	XML	Total
Mar 2026	103	32	7	142
Apr 2026	96	23	5	124
May 2026	93	17	7	117
Jun 2026	8	4	1	13
Jul 2026	21	9	3	33
Aug 2026	23	17	1	41
Sep 2026	82	40	10	132
Oct 2026	35	22	8	65

Cumulative views and downloads (calculated since 09 Mar 2026)

Month	HTML	PDF	XML	Total
Mar 2026	103	32	7	142
Apr 2026	96	23	5	124
May 2026	93	17	7	117
Jun 2026	8	4	1	13
Jul 2026	21	9	3	33
Aug 2026	23	17	1	41
Sep 2026	82	40	10	132
Oct 2026	35	22	8	65

Latest update: 20 Oct 2026

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.