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Sending feedback to the Sense Glove
The Sense Glove SDK gives one access to a number of wrapper functions to send commands to the Sense Glove using the SenseGlove_Object class. These functions return a boolean to indicate if the command was successfully sent. Not all Sense Gloves have access to the functionality. It is possible to check if the Sense Glove has the desired function using the SenseGlove_Object.HasFunction(GloveFunction) Method.
The currently available GloveFunctions are:
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GloveFunctions.BuzzMotors: Vibrate each finger to give cues or to create the impression of texture or tension. -
GloveFunctions.Brakes, Inhibit the motion of each finger in the grapsing direction.
The force feedack of the Sense Glove is achieved through its braking system. Through the SenseGlove_Object's wrapper functions, one is able to send the desired brake level to each individual finger.
The Sense Glove will keep giving the desired resistance level until it is given a new command or when the application quits.
Brake Level : [0...100], where 0 represents no brake force, and 100 (%) represents the maximum brake force.
Haptic Feedback is achieved through Buzz motors near the thimbles of the Sense Glove.
Finger: [True, False] Indicates if this buzz motor command is meant for this finger, or if it should continue any previous pattern.
Magnitude: [0...100] The desired (maximum) intensity of the buzz motor.
Duration: [1 ... 1500] The time (in ms) for the command to complete
Pattern: Currently, only a BuzzPattern.Constant is available, where the buzz motors will vibrate at the desired magnitude for the duration.