IrukaTact: Submersible Haptic Search Glove

IrukaTact is an open source assistive underwater glove that translates ultrasonic range finding data into haptic feedback. This paper describes the development of new models for underwater haptic actuation and the ongoing prototype development process necessary for creating this tool. Our objective is to create a system that detects underwater topographies to assist the location of sunken objects in flooded areas by sending haptic signals to wearer's fingertips produced by micropumps that propel water of varying pressures. This feedback system extends current haptic technologies by providing hybrid actuation including pressure and vibration underwater, while preserving the wearer's natural ability to grasp objects. This technology has many potential applications beyond underwater echohaptic location, such as new interfaces for virtual reality object simulation in aqueous environments.