LucidVR Budget Haptic Glove

A functional glove that lets you use (and eventually 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 Glove that's cheap and easy for people to get their hands on (or in, lol).

Prototype 3 cost me $21.89 in *unit cost*, in parts, that's less than $11 per hand!

Originally, this was just a fun quarantine project to keep me busy, but 300,000 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 3.1 but I'm innovating constantly to improve the gloves. Adding FFB haptics in Prototype 4.

Prototype 3 of the LucidVR glove. This is a finger tracking glove that allows you to use your hands in VR. Follow along with my developments on this TikTok page:

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

I've tested the gloves on:

* Oculus Rift CV1

* Will be testing on Oculus Quest 2 (w/link) soon


Wiring Diagram:

Parts List:

Arduino 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 coming soon. 


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


Prototype 1 (Unreleased)

  • The genesis of this project
  • Super bulky and unreliable

Prototype 2 (Unreleased)

  • A huge upgrade over prototype 1
  • Reduced bulk and more reliable

Prototype 3 (Released)

  • First public release
  • Much more comfortable and tracking improvements

Prototype 4 (WIP)

  • First public Force Feedback prototype
    • Addition of haptic servos (already demonstrated on tiktok)
  • It Will most likely be very bulky, will reduce bulk in Prototype 5

  • 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 project log

Enjoy this project?



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?

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Emmanuel825 wrote 04/12/2021 at 17:36 point

Hello, I'm here because I would like to know how do you add force Feedback on your gloves. Thanks for your answer

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Tony wrote 04/13/2021 at 19:28 point

Force Feedback is not publicly available yet. That is part of prototype 4, which has not been released yet.

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dai-san wrote 04/11/2021 at 12:26 point

Using Linear Potentiometers would get rid of a lot of the bulk and require just a small spring per finger to draw it back, gonna try that on my build.

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shadowbeam2104 wrote 04/08/2021 at 15:53 point

Will oculus quest 2 standalone be supported at some point

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JamesRgames wrote 04/12/2021 at 00:03 point

I think he may do it but it will probe after he’s done with the gloves with a pc

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tormasizsolt wrote 04/06/2021 at 12:27 point

This is a great project and I will likely build it in the future, but I am not sure about one thing, Is it possible to use HTC Vive controllers or does it only work with the trackers?

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Lucas LucidVR wrote 04/13/2021 at 01:53 point

Yeah, Vive trackers are compatible

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Jacob W wrote 04/05/2021 at 02:37 point

I built one hand so far (For testing) and it works great.  You did an amazing job on this project.  I saw smaller potentiometers (I might try) to see how they work and it might help with the size of the glove overall.

Keep it up with this project.

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JW wrote 04/02/2021 at 15:54 point

considered using fiduciary makers like in apriltag instead of the other controllers for tracking?

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Tony wrote 04/21/2021 at 16:09 point

fiducial tracking is far less accurate and consistent than controllers. It might be possible to implement, but the tracking quality would be very bad and likely unusable in many situations

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Cole funk wrote 03/31/2021 at 16:28 point

is it possible to use these with a valve index?

  Are you sure? yes | no

Lucas LucidVR wrote 03/31/2021 at 20:49 point

Yes, though I would recommend using vive trackers if you have base stations

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sophi--e wrote 03/29/2021 at 23:09 point

Lucas this is AMAZING! cant wait to see how this evolves and i think i'm gonna give it a go at making version 3! super exciting thank you for sharing!

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nintendogamer192 wrote 03/26/2021 at 21:30 point

As I am not at all able to build this on my own, I wanted to ask if they will be on sale someday. Thanks in advance.

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Dr.FumihiroKato wrote 03/26/2021 at 11:42 point

Let me provided additional information related to this project.
We have already developed same kinds of mechanism haptic glove and published a journal.
Fig.20 on p.22 shows our proposed system.
Susumu Tachi, Yasuyuki Inoue and Fumihiro Kato: TELESAR VI: Telexistence Surrogate Anthropomorphic Robot VI, International Journal of Humanoid Robotics, Vol. 17, No. 5, p.2050019(1-33) (2020.10)
I was also eager to develop not expensive haptic feedback glove. Each motor costs less than 20 USD and light weight. 

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Lucas LucidVR wrote 03/31/2021 at 20:49 point

Wait, is that 20 usd for the whole glove, or 20 usd per finger?

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andrewking6021 wrote 04/06/2021 at 11:44 point

check this one, it's a different design. meant to provide haptic feedback on the finger when touch a virtual surface. not what you're doing exactly.

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TGoetzelmann wrote 04/06/2021 at 13:55 point

Actually, it is very similar to our project from 2017:
Timo Götzelmann. 2017. A 3D Printable Hand Exoskeleton for the Haptic Exploration of Virtual 3D Scenes. In Proceedings of the 10th International Conference on PErvasive Technologies Related to Assistive Environments  - PETRA ’17, 63–66.

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sidney.hadfield wrote 03/24/2021 at 17:07 point

hey i have been trying to make this today howver (after much testing of the firmware communication ports and of the perteniometers them self) i cant seem to get them to work in game. i have been testing with half life alyx but to no provail. i have a quest 2 using a link cable, and i know you said you had started testing on that. is there anything you can recomend? also on your videos on tictok i noticed that you are using a diferent games for testing hand modles, what game is this and is there anyway i could get it?

any help would be great

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Lucas LucidVR wrote 03/26/2021 at 18:41 point

I'm happy to help, if you have discord send me a DM or join our server. My tag is LucidVR#0001

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Polaroler wrote 03/22/2021 at 22:55 point

I was wondering when the instructions to make this awesome project r gonna come out

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sidney.hadfield wrote 03/24/2021 at 18:14 point

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Kevinspidy wrote 03/22/2021 at 18:07 point

I was wondering if this supported rift s?

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Collin wrote 03/21/2021 at 23:09 point

I was just wondering if I needed to use vive trackers. I'm using the Valve index by the way.

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Lucas LucidVR wrote 03/22/2021 at 10:57 point

Yeah, without vive trackers you'd have to strap Index controllers to your hands, which would sort of defeat the purpose of gloves a little haha

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