ExoPhalanx mounted on CyberGlove.
Futoshi Kobayashi, George Ikai, Wataru Fukui, Fumio Kojima
CC BY 4.0
Futoshi Kobayashi et. al. "Two-Fingered Haptic Device for Robot Hand Teleoperation", Journal of Robotics <a rel="nofollow" class="external text" href="https://doi.org/10.1155/2011/419465">doi:10.1155/2011/419465</a>