Table 1.

Comparison of the hardware, sensors, and actuators used in this work with other works.

Reference	Glove Hardware	MIPS/MHz/Core	Processor Bits	Sensors	Actuators
[26]	MSP430F5438A	-	16	18 IMUs	No
[27]	FPGA DE0-nano	-	-	11 IMUs	14 Vibrotactile
[28]	Cypress PSoC 5LP	1.25	32	5 IMUs	2 Vibrotactile
[29]	ATmega32U4	-	8	10 Flex + 1 IMU	5 Vibrotactile
[30]	PIC	-	8	5 Flex	5 Vibrotactile
This work	Galileo Gen2	1.25	32	2 IMUs	5 Vibrotactile