but instead outputs vibration which amplitude is

proportional to the proximity of obstacle.

Introduction
The Haptic Obstacle Detector (HOD) uses
Vision impairment or vision loss is a infrared sensor and ultrasonic sensor to measure
decreased ability of the person to see to a point distance between the user and an object within 3m
where it could not be solved by normal glasses and range. The measurement is then converted to
reduces the ability of the person to do daily tasks vibrations in different amplitudes and frequencies,
and blindness is a total or near total loss of vision. which closer distance corresponds to stronger and
Cataract, uncorrected refractive error, and glaucoma faster vibrations [12]. In this study, the researchers
are the most common visual impairment diseases were motivated to create a vibrotactile gloves that
that can sometimes lead to blindness [18]. uses sensors. An Ultrasonic sensor is a device that
can measure the distance to an object by using
As of 2015 there were 940 million people sound waves. It measures distance by sending out a
with some degree of vision, 246 million had low sound wave at a specific frequency and listening for
vision and 39 million were blind according to that sound wave to bounce back. By recording the
WHO. Seven million individuals are going to be elapsed time between the sound wave being
blind annually, and globally increasing by 1-2 generated and the sound wave bouncing back, it is
million per year [12]. Estimated half of a million possible to calculate the distance between the sonar
Filipinos are blind and many more in decreasing sensor and the object. In addition, ultrasonic sensors
degrees of impairment. To a great extent, the major are simple, compact and portable compared to
cause of blindness among Filipino adults is cataract conventional sensors [14]. This device will help the
accounting for around 400,000 cases [19]. blind to scan and interpret the area of distances of
Being blind is a very difficult condition. It is the obstacles and decide where to move.
hard for a blind to go to a certain place without This motivated the researchers to design,
hitting or crossing an obstacle that can lead him/her construct and evaluate the Vibrotactile Robotic
to accident or trouble. Visually impaired people Gloves: An Ultrasonic Obstacle Distance Detectors
have an improved ability to sense relative distance for Visually Impaired. Specifically, this study aims
but has a deficit in absolute distance perception [ 19]. to answer the following objectives: to create a low
They cannot tell how far an object is and find an cost navigating aid that can detect obstacles and
open pathway at a distance in a crowded place. This notify the user how far the obstacle is as compare to
means that blind people really need tools that can the commercial devices; to determine the maximum
help them in navigating safely. Most of the blind range the sensor can detect the distance of the
people navigate using non-technological guides for obstacle/s; to determine its response time in
navigation such as white cane, dependent people detecting distances of obstacles and to evaluate the
and trained dogs [9]. However, with the advances of acceptability of the device in terms of its design and
modern technologies many different types of function.
devices are available to detect distances of obstacle.
The Vibrotactile Robotic Gloves could be
Several tactile and haptic feedback devices used to guide the blind to his/her functional
were made to detect distances and alert the blind. activities and this study could help the visually
Examples of these are Haptic Obstacle Detector impaired here in the Philippines to do their
(HOD) that uses infrared sensor and ultrasonic functional activities like walking easily.
sensor to measure distance between the user and the
distance to be converted to vibrations in different Methodology
amplitudes and frequencies, Buzz Clip that uses
ultrasound to detect obstacles and notifies the user The purpose of this section is to present
of these obstacles through intuitive vibrations, in a simple and direct manner what has been
vibrotactile belt, haptic shoes, haptic headbands, done, what materials were used in this study,
‘’Ultracane’’ a tactile feedback cane and many other how the data acquired from the testing of the
more [7]. The disadvantage of these devices is they device were analyzed and presented.
cannot interpret the absolute distances for the blind
Research Design
The Descriptive Research Method was
used in this study. Descriptive Research Method
was used in an observational way which is
viewing and recording only in collecting data.
In this study, the vibrotactile robotic gloves
were evaluated in terms of its maximum range
in detecting distances of obstacles. The data Figure1. Block Diagram of the System
were recorded if it can detect or not. The
vibrotactile robotic glove were also tested in
terms of its response time before it vibrate and
and its capability to distinguish animate and
inanimate obstacles. The response time of the
vibrotactile robotic gloves was gathered by
observing and recording the amount of time
before the vibrotactile robotic gloves respond or
vibrate when it detect obstacles.

Location of the Study

The construction of the vibrotactile
gloves and installation of the Arduino UNO and
vibration motor were performed at the
Technological University of the Philippines- Figure 2. Schematic Diagram of the System
Visayas, Talisay City, Negros Occidental under Procedure
the supervision of Engr. Alexander Diamante The internal components needed were
(Internet Technology Instructor) and Engr. Jovel prepared The Arduino UNO was programmed
Young (Electronic Engineering Instructor). with “If-Then” condition with the use of
ArduinoCC application. It means that if detected
Materials and Equipment
0.5m obstacle else then vibrate motor left no.1
The materials and equipment used in this which is found in the middle finger .The
study were: 2 hcsr04 ultrasonic sensors, 2 components were assembled in the gloves. The
Arduino UNO (microcontroller), 6 mobile sensors were put in the back part of the palm of the
vibration motor, 1 pair of glove, rubber, two gloves. The vibrational motors for 0-0.5m
soldering iron, soldering lead, cutter, mini drill, distance are found in the third digit fingers or the
grinder, 6 screws, ruler, glue gun, and super middle finger of the hand, for 0.6-1m they’re found
glue, 8 male to male header’s wire, 3m wire. in the second digit fingers or the ring finger and for
the 1.1-1.5m distance it is found in the first digit
Project Design fingers or the pinky.

This type of project demands the Operation of the Device

researchers to have knowledge in electronics
especially in microcontrollers. The project needs The device will be worn on either of the two
the researchers to have a skill and understanding hands depending on the preference of the visually
of electronics particularly in microcontrollers. impaired. It may be on the left or on the right hand.
Furthermore, the project needs a background on The sensors were placed on the back part of the
programming for editing and uploading the code palm together with other components enclosed by a
to the microcontroller. The fabrication of this casing. Then, the user will target a certain direction
device considers the necessary blocks: using the sensors on the back part of the palm to
detect the distances of the obstacles. For example,
the sensor on the right hand detected 0.5m, the
motor on the middle finger of the right hand will
vibrate as long as it is on the range of 0-0.5 m.
Moreover, if the glove was worn by the user in the
left hand and the sensor detected 1.5m, the motor on
the first digit or the pinky will vibrate. The user will
interpret this that the
obstacle on detected is 1.5m away. Thus, the user Validation of the Survey Instrument
will be notify and will find an open pathway to Using the criteria developed for evaluating
walk. survey questionnaire set forth by Carter V.
Good and Douglas B. Scates, ten(10)
Testing of the Device respondents with profession related to this study
The efficiency of the glove was tested by were asked to evaluate the attached self-made
using a meter stick to measure the distance that the survey instrument for the proposed study.
sensors can detect obstacles. Different absolute
distances of obstacles were set: 0.5 meter, 0.8m, Table2. Survey Form to Evaluate The Validity of
1.0m, 1.2, 1.5m and 2.0 meters. Results were the Survey Instrument of Vibrotactile Robotic
recorded after the device interpret the absolute Gloves
distance of obstacle through vibrational gloves. The Criteria for Validity 1 2 3 4 5
vibrotactile robotic gloves were also tested if it can
distinguish animate and inanimate obstacles. 1. This questionnaire is short
Moreover, the response time of the glove before it enough and respondents
vibrates when there is an obstacle detected was also respect it and would not
measured in seconds. The researchers conducted a drain much of their
survey to the blind for recording the acceptability of precious time.
the device. Ten (10) visually impaired people 2. The questionnaire is
participated as the respondents. Each respondent interesting and has the face
was asked with the questions found in the appeal such that respondents
questionnaire after using the device. The question will be induced to respond
was also translated in the native language of the to it and accomplish it fully.
respondents so that they can understand the survey.
3. The questionnaire can obtain
Below is the sample survey questionnaire that were
some depth to respondents
asked to the visually impaired.
and avoid superficial
Table1. Survey form to evaluate the acceptability of the answers.
Vibrotactile Robotic Gloves 4. The items/questions and their
alternative responses are not
too suggestive and not too
stimulating.
5. The questionnaire can obtain
responses which are definite
but not mechanically forced.
6. Questions/items are stated in
such a way that the
responses will not be
embarrassing to the
The 5-point Likert scale [ 1]was used during person/persons concerned.
the evaluation in determining the acceptability level 7. Questions/items are formed in
as follows: such a manner as to avoid
doubt on the part of the
respondents.
 8. The questionnaire is not to
narrow nor restrictive nor
limited in its philosophy. 7 Yes Yes Yes Yes No
9. The responses to the 8 Yes Yes Yes Yes No
questionnaire when taken as
a whole, could answer the 9 Yes Yes Yes Yes No
basic purpose for which the
questionnaire is designed
10 Yes Yes Yes Yes No
Statistical Data Analysis Procedure
Legend: Yes – the glove vibrated and was correct in
Data recorded from the study were
vibrating the corresponding motor
analyzed using descriptive statistical analysis.
The statistical tool used in the study was: Mean
Table 4. Mean Response Time in Seconds of the
- was used to get the average acceptability score
Vibrotactile Robotic Gloves in Detecting Distances
of the device in terms of its design and function
of Certain Obstacles
based on respondent’s evaluation and the D T T T T T T T T T T1 Mea
average response time of the device in detecting 1 2 3 4 5 6 7 8 9 0
n
the distance of a certain obstacle. 0.5 1 1 1 1 1 1 1 1 1 1 1
m
RESULTS 0.8 1 1 1 1 1 1 1 1 1 1 1
m
For the determining the range of 1.0 1 1 1 1 1 1 1 1. 1 1 1.2
m 2
distance that the glove could detect obstacle
1.5 1 1 1. 1 1 1 1 1 1 1 1.2
table 1 showed the results that the device is m 2
capable to detect the approximate distances of 2.0 1 1 1 1 1. 1 1 1. 1 1 1.3
obstacles until 1.5m. The visually impaired m 2 1
respondent was also able to determine the
absolute distance of an obstacle. By scanning Legend: D- Distance ; T- Trial
from different directions using sensors the
respondent knows an open pathway avoiding Table 4 shows the mean response time in
the obstacles. seconds of the vibrotactile robotic gloves in
detecting distances of certain obstacles set-up by the
Table 3. Triggering of the Vibrotactile Robotic researchers. The results showed that the gloves are
Glove capable to respond within 1.0 second to 1.5 second.
Trial Triggering of the Vibrotactile Gloves in The vibrotactile robotic glove can response within a
second in detecting obstacles below 1m distance.
Different Obstacle Distances in Meters The response time of the gloves to obstacles within
2m is much longer than those of nearer distances
0.5 0.8 1.0 1.5 2.0 less than 2.0m.

1 Yes Yes Yes Yes No Table5. Distinguishing of the Vibrotactile Robotic

Gloves of Animate and Inanimate Obstacles
Trial
2 Yes Yes Yes Yes No
1 Yes
3 Yes Yes Yes Yes No 2 Yes
3 Yes
4 Yes Yes Yes Yes No 4 Yes
5 Yes
6 Yes
5 Yes Yes Yes Yes No
7 Yes
6 Yes Yes Yes Yes No
 8 Yes Rating Scale: 5- Excellent; 4- Very Good; 3 - Good;
9 Yes 2- Fair; 1- Poor
10 Yes DISCUSSION
Legend: Yes- the glove was able to detect and There are already obstacle detector devices
perform its function depending on the kind of that are existing in the market but they are more
obstacle. expensive and it is not yet locally available. One of
the obstacle detector devices for the visually
Table 5 shows if the vibrotactile robotic impaired that is available in the market but
gloves can distinguish animate and inanimate specifically not in the Philippines, is Ultracane
obstacles set up by the researchers. Results shows which also uses ultrasonic sensor but it cannot
that out of 10 trials the vibrotactile gloves can identify the approximate distance of the obstacle [ 2].
distinguish animate and inanimate obstacles. It also cost $1250 dollars (more or less Php 53,000)
[2]. On the other hand, Vibrotactile Gloves: An
For the evaluation of the acceptability of Ultrasonic Obstacle Distance Detector for Visually
the device in terms of its design, construction and Impaired is only Php 1387.00.
function ten respondents were asked to use the The navigating aid can detect obstacle
glove and evaluate it through the criteria above. within the range of 01.5 meter; ultrasonic sensor has
Based on the point of view of the respondents who a measuring distance of 4 meters and a measuring
are visually impaired, as illustrated in Table 4, angle which is 15 degrees. It can also detect the
their rating ranges from good to excellent in all obstacles found on the upper and lower extremities,
criteria. Based on the 5-point Likert Scale, the left, right, back and in the center depending on
device was highly acceptable without revision where the sensor is pointing. It would inform the
when it comes to its construction and function. visually impaired that there is a obstacle and its
When it comes to comfort ability and design, it is approximate distance through the vibrating motors
very acceptable with one or two revision. on the gloves.
Therefore, in terms of the acceptability of the Mostly of the visually impaired that we have
design, construction and function, the device is surveyed they prefer that the device could be hands-
acceptable to visually impaired for his/her free. That is why the researchers end up in having it
activities. as a gloves also with the visually impaired so that
Table 6. Results of the Validation of the he/she will not be tired of carrying the device with
Acceptability of the Vibrotactile Robotic Glove his/her hands. They also much depends on their
sense of touch [ 12]. That’s why they came up with a
Criteria Mean Equivalent
vibrational gloves as indicator of the obstacle’s
distance.
Rating (Likert
One of the advantages of these gloves is that
Scale)
it can detect obstacles in any directions as long that
the device is 5 Highly it’s in the 1.5 meter range. The researchers
userfriendly Acceptable designed for shorter distances since visually
the device is 4.6 Highly impaired is much more concern in short distances
functional Acceptable rather than long distances in navigating in their
the device is 4.1 Very daily lives . Moreover, the vibrotactile gloves can
comfortable to use Acceptable also distinguish animate and inanimate obstacles.
the device can 4.7 Highly Animate obstacles are obstacles that move while
differentiate animate Acceptable inanimate doesn’t move and they have fixed
objects between position. The vibration motors of the gloves vibrate
inanimate objects alternately showing that the obstacle is moving and
is classified as animate.
the device can be 4.7 Highly
carried or moved easily Acceptable
from one place to
another
 impaired that have missing fingers or deformities in
the hand.

CONCLUSION &
RECOMMENDATION
Vibrotactile Robotic Gloves: An Ultrasonic
Obstacle Distance Detectors for Visually Impaired
could be manufactured using cheap and readily
materials. It helps the visually impaired with more
convenient means of life. Using the ultrasonic
Figure3.Vibrotactile Robotic Gloves: An sensor the approaching obstacles and its distance
Ultrasonic Obstacle Distance Detectors for will be informed to the visually impaired through
Visually Impaired the vibrotactile gloves since visually impaired
people including blinds are heavily dependent on
their sense of touch which makes the overall design
On the other hand, the vibration motor output of the device comfortable in its capabilities
just vibrate as long as the obstacle is there in helping the visually impaired. It is almost
showing that the obstacle is not moving or effective in fulfilling its purpose. Results lead to
inanimate. The researchers also personalize the formulation of other devices that could more
vibrotactile glove because there are blinds that beneficial to the visually impaired. It is also
are left-handed and their preferences are to use recommended to improve the design of the
the glove for the left hand same as well for the vibrotactile gloves.
right-handed blinds. Besides that it is cheaper
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ACKNOWLEDGEMENTS
The researchers would like to thank the
following: to our research advisers, Mr. Russell
Gorre and Mrs. Sharon Villagracia for their
suggestions, time and effort in guiding us all
throughout the conduct of the study. To Mrs.
Yvonne Vargas, Science and Technology
Department Head and Mr. Mario S. Amaca, our
ever supportive principal of Negros Occidental
High School,who allowed us to conduct this
study outside the school campus; to Mr. Jovel
Young, Head of Electronics Engineering of
Technological University of the Philippines-
Visayas , for facilitating the construction of our
device and to Technological University of the
Philippines-Visayas, for allowing us to enter
their school premises while we conduct our
study; to our support group, Sheen Cagud and
Carl Soliva, thankyou so much for your
financial support all throughout the conduct of
this study and lastly to our parents for allowing
and supporting us in terms of finances to finish
this study.

CONTRIBUTIONS
Paj Keifel Guliman- prepared the materials needed
for this study, programmed the arduino at the
Technological University of the Philippines under
the supervision of Mr. Jovel Young.
Ma. Althea Abing- assembled the components of
the gloves, also helped in programming as well as
making the Parts Placement Guide and schematic
diagram.
Sheris Angel Casurao- superheaded the testing of
the gloves at 888 Blind Massage Bacolod and at
SPED Center Bacolod, also helped in interpreting
the data and making the research papers.
All authors contributed equally.