Core Viewpoint - The article discusses the development of Kinethread, a full-body haptic exoskeleton system designed to enhance immersive experiences in virtual and augmented reality by providing realistic tactile feedback, overcoming the limitations of current consumer-grade and professional devices [1]. System Design: Rope-Driven Mechanism and Modular Structure - Kinethread utilizes a computer-controlled electric reel and rope transmission mechanism, combined with a modular tactical vest for load distribution, enhancing comfort during prolonged wear [2]. - The system integrates 10 electric reels, with 8 positioned around the waist to optimize ergonomic design and effectively hide reverse tension during operation, allowing clearer perception of force feedback [2]. Motor Selection and Weight Considerations - The system employs two types of high-torque brushless DC motors, with the larger motor weighing 265 grams and providing a maximum pull of 42N, while the smaller motor weighs 140 grams with a maximum pull of 17N [4]. - The total weight of the system, including the battery, is kept below 5 kilograms, with a wear time of under 30 seconds, balancing performance and practicality [4]. Pulley Mechanism and Force Output - The design incorporates traditional mechanical structures like pulleys to change force direction and provide mechanical advantage, achieving a maximum output force of 120N through a three-pulley structure on the back [6]. - The system's design allows for dual-direction drive from a single motor, reducing complexity and overall weight [6]. Control and Software Capabilities - Each motor connects to a custom driver, with multiple microcontrollers communicating with the host via USB, utilizing the open-source SimpleFOC library for closed-loop control at approximately 2kHz [11]. - The software, developed on Unity, supports various haptic feedback modes, allowing for simultaneous simulation of vibrations and dynamic forces, enhancing the immersive experience [11]. Performance Metrics - Kinethread demonstrates potential for consumer applications with performance tests showing peak force achieved within 50 milliseconds and a vibration feedback bandwidth of 200Hz, capable of producing over 3N of force at 100Hz [12]. - The system's standby power consumption is 1.5W, with typical scene power consumption averaging 10.9W, allowing for over 6 hours of wireless operation with a 12V 5600mAh lithium battery [12]. Application Scenarios - Kinethread can simulate various tactile effects, including static weight, dynamic forces, impact forces, and social interactions, enhancing user experience in virtual environments [13]. User Experience Evaluation - A user study with 12 participants indicated that the combination of vibration and dynamic feedback significantly outperformed other conditions in terms of realism, immersion, and instinctive reactions, highlighting the importance of dynamic feedback [15]. Future Prospects - Future developments aim to address limitations such as the inability to simulate pushing forces and potential risks associated with cable routing, while exploring additional types of force feedback and optimizing motor configurations for improved realism [16].