LucidGloves: VR Haptic Gloves on a budget

A functional glove that lets you use AND FEEL your hands in VR.

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This is a project to try to make VR Haptic Glove technology more available for the public. Currently, most VR Haptic Glove products out there are extremely expensive and are targeted for commercial use. In starting this project, I wanted to create a budget, but still well-functioning VR haptic and finger tracking glove that's cheap and easy for people to get their hands on (or in, lol), and that works **Inside actual VR games**.

Prototype 4 costs about $30 per hand.

Originally, this was just a fun quarantine project to keep me busy, but 500,000 followers later, this project is now much more than that. My goal now is to spread this project as far as possible and hopefully help more people fall in love with Virtual Reality.

Currently, the project is in prototype 4 but I'm innovating constantly to improve the gloves.

Follow along with my developments on this TikTok page:

Currently, the glove is compatible with PCVR headsets through SteamVR.


Getting Started:

Parts List:

Arduino/ESP32 firmware and STL Files (for 3D Printing) are located here:

Open-source driver to use the gloves in SteamVR (A collaboration between Danwillm and me):

Github Driver Link

Steam Driver Release

Instructions and video tutorials for assembling the gloves are available on youtube.

Many features may be unstable until they are polished, build at your own risk :P

Public Roadmap:

Prototype 3

  • First public release (finger tracking model)
  • Much more comfortable and tracking improvements

Prototype 3.1

  • Wireless support over Bluetooth
  • Easier to assemble and faster

Prototype 4

  • First public Force Feedback prototype
    • Addition of haptic servos
  • Custom Rigid Mount for controller holders, and many other improvements.

Prototype 5 (WIP)

  • Planned to be much more compact
  • Will have support for finger splay (side to side movement) tracking

  • Prototype 4 with FORCE FEEDBACK HAPTICS!!!

    Lucas LucidVR01/05/2022 at 01:43 0 comments

    Hello everyone! 

    This update has been long overdue, but with the premiere of my new video on Prototype 4, I thought it would be the perfect time to update you all on the addition of FORCE FEEDBACK to my VR Haptic Gloves!!!

    These gloves now allow you to FEEL the shape and resistance of objects in Virtual Reality!

    This goes along with the release of firmware V4 and OpenGloves Driver v0.4, which enable the haptics to work in actual VR games!

    The hardware itself for the haptics is enabled by the addition of super-cheap 9g RC servo motors, which I am powering off of a cheap USB battery.

    The data for the haptics is integrated either via native Unity code or via modding support for haptics into different games.

    As of 1/4/2022, we currently have haptic support in the OpenGloves unity demo, as well as mods to add haptic functionality into the following games:

    * Half-Life Alyx

    * Boneworks (modded by L4rs)

    * Jetborne Racing (modded by L4rs)

    * Want to help us mod more games? Reach out on our discord server or DM LucidVR#0001 on discord.

  • Bluetooth! + Steam Release

    Lucas LucidVR05/21/2021 at 22:22 0 comments

    Alright, so all of the pieces for using Bluetooth with the VR gloves have come together!

    Using Firmware V2 and Driver v0.3, the gloves can now communicate to steam completely wirelessly.

    This requires using an ESP32 development board instead of an Arduino nano on the glove side.

    Change COMMUNICATION to COMM_BTSERIAL in the firmware, and communication_protocol to 1 in the driver.

    Currently, Bluetooth communication is done through Bluetooth Serial, but I will also be writing a BLE implementation later on.

    In other related news, the open-source VR glove driver that I have been working on in collaboration with Danwillm is now finally released on the Steam store!

    I recommend using the steam release of the driver instead of the GitHub zip, as you will get auto-updates as they roll out.

    I'll also be releasing a video tutorial on how to build and set up Prototype 3.1 very soon!

    Youtube Channel

View all 2 project logs

Enjoy this project?



StrikeIsMe wrote 06/10/2021 at 14:52 point

Is there a possibility that this could come to Oculus Quest 2 anytime soon? Without link I mean.

  Are you sure? yes | no

InKey wrote 06/14/2021 at 04:11 point

No never, unless oculus buys him

  Are you sure? yes | no

rayanshfotedarg wrote 01/14/2022 at 21:02 point

sad life :(   I only have quest 2(only isnt right choice of words lol.

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Eric Geer wrote 06/10/2021 at 00:39 point

Have you considered using optical encoder rather than potentiometers?  I can see you saving quite a bit of bulkiness using them.  A ribbon instead of a string and optical encoder, with a rubber band pulling on the ribbon would make this design super low-profile 100% linear design and even cheaper in electronics!

  Are you sure? yes | no

Ethan wrote 06/06/2021 at 11:27 point

what if you were to add a locking mechanism for when you were having collisions with objects or whilst holding an item. (small moters that cannot hurt us by pulling back to far.)

  Are you sure? yes | no

Tony wrote 07/05/2021 at 17:24 point

That has already been in development for the past few months, and is what Prototype V4 will be. It uses 9 gram RC servo motors to restrict movement to create force feedback.

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Lain Szvahl wrote 06/02/2021 at 04:13 point

Aloha!, Seems the Discord link has expired or something. as its no longer valid

  Are you sure? yes | no

InKey wrote 06/01/2021 at 23:59 point

Can you Please add a Lone echo/Oculus Mod
Your Gloves will work perfectly in lone echo

  Are you sure? yes | no

sans9929 wrote 05/29/2021 at 23:34 point

are the goves quest 2 compatable

  Are you sure? yes | no

Tony wrote 07/05/2021 at 17:21 point

The gloves are compatible with any SteamVR headset, including the Quest 2. In order to use it you must use virtual desktop/oculus link/air link, as the gloves will not work on any games on the Quest platform, only SteamVR

  Are you sure? yes | no

Jordan wrote 05/09/2021 at 23:32 point

Is there an updated Discord link?

  Are you sure? yes | no

Lucas LucidVR wrote 05/21/2021 at 22:13 point


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Tony wrote 05/04/2021 at 05:49 point

Ignore everything after this. I was unable to get the bend sensors to function.

I just found an extremely interesting project that could probably be adapted to fit this project with some tweaks. It would be extremely cheap and easy to construct, although I'm not sure about longevity or accuracy:

I will try it myself as soon as I get a chance and leave a reply with how it ends up working

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ozorisx wrote 04/24/2021 at 18:02 point

is there anything i can do about the 3d printing ?

I don't have access to 3d printers in my country for cheap to make it viable

  Are you sure? yes | no

Isley wrote 05/10/2021 at 04:12 point

On his discord, I noticed there are some people willing to print out parts and send them to you. maybe try there?

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einar.petersen wrote 04/22/2021 at 08:40 point

Another question: Any possibility of paying to get a couple of finished builds 2-3 pairs? If yes - How much would a build be.

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einar.petersen wrote 04/22/2021 at 08:38 point

@Tony thanks for the reply - Now I need to go back to GODOT and figure out if they do "index controller" mapping in their VR setup.

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FlemShark wrote 04/19/2021 at 03:38 point

anyone else having troble getting the nuts in the tensioner part at defualt size

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Lucas LucidVR wrote 04/20/2021 at 03:23 point

Try the prototype 3.1 tensioner, it has a bigger slot for it

  Are you sure? yes | no

FlemShark wrote 04/20/2021 at 03:24 point

ok thank you

  Are you sure? yes | no

Silverwebb wrote 04/18/2021 at 23:35 point

hi, will those glove works for Value Index VR and VRchat? 

  Are you sure? yes | no

Lucas LucidVR wrote 04/20/2021 at 03:23 point


  Are you sure? yes | no

Trey wrote 04/18/2021 at 00:36 point

Got a question, I don't have enough knowledge on the topic, and it may be different than the intended purpose of being able to interact with an actual vr headset, I want to be able to use them in order to interact with a computer, so like record gestures and then it does something essentially, would the vr controllers from a vive or quest themselves still be needed?

  Are you sure? yes | no

Tony wrote 04/21/2021 at 16:02 point

The controllers are only used to track the gloves in 3D space, they are not necessary for the finger tracking. If you wanted to use it in the way you describe you would need to find software that can already do that (which I doubt has been made) or write your own software for it.

  Are you sure? yes | no

Egor wrote 04/16/2021 at 17:49 point

Hello, your decision for new VR gloves looks interesting, but it can be improved too. I have a couple of ideas. One of them: you can replace your method of blocking the thread movement with a more elegant one. Namely: use a stepped motor to lock the spring itself, not thread movement. This will allow you to directly change the length of the thread and block the movement of the fingers. Also, with the help of this, it will be possible to easily recognize the current position of the fingers. In addition, this is a less aggressive method, and even if you overdo it, you will not be able to pull the threads more than you might be able to. In your decision, you can break the motor. You can write to me in a telegram, I will explain in more detail. @JackyLuck

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einar.petersen wrote 04/15/2021 at 17:09 point

This looks a very interesting project along the lines I had imagined possible, I definitely might consider using something this for my project involving visually impaired - Can you tell me what kind of API is available if I wanted to integrate use of these gloves as controllers in a project I am likely to be using the GODOT platform to develop

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Tony wrote 04/21/2021 at 16:04 point

Afaik the software is a driver integrated into SteamVR. Assuming your game is a VR game, you would use it in the exact same way you would use an index controller

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Daniel wrote 04/15/2021 at 14:03 point

I have seen your latest update! Awesome idea! But did you thought of using solenoids to block the rotation instead of servo motors? They would work much faster :)

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Beancent wrote 04/15/2021 at 03:07 point

If I were to build these, would there be any way to get a thumbstick on each hand for prototype 3? It didnt look like there was one attached to it in the vid.

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Tony wrote 04/21/2021 at 16:07 point

The firmware appears to support one thumbstick and two buttons on each hand. If you look at the wiring diagram section of the github, it says which pins to connect to for the joystick and buttons. A6 for the X axis, A7 for the Y axis, D7 for joystick click, D8 for button 1, D9 for button 2. It should just be a matter of connecting them to the right pins and attaching them to the glove

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otmanefarissi66 wrote 04/14/2021 at 16:20 point

What major are you studying ? I hope you can answer me 

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Ethan wrote 04/14/2021 at 14:21 point

I was going to make this but I not only don't have a 3d printer for a lot of these parts, but I am not very good with these kinds of builds, is this planned to be sold?

  Are you sure? yes | no

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