In the last decade, several new haptic devices have been developed, contributing to the
definition of more realistic virtual environments. An overview of this topic requires a …

Weight is perceived through the combination of multiple sensory systems, and a wide range
of factors–including touch, visual, and force senses–can influence the perception of …

CLAW is a handheld virtual reality controller that augments the typical controller functionality
with force feedback and actuated movement to the index finger. Our controller enables three …

Ungrounded haptic devices for virtual reality (VR) applications lack the ability to convincingly
render the sensations of a grasped virtual object's rigidity and weight. We present Grabity, a …

We present PIVOT, a wrist-worn haptic device that renders virtual objects into the user's
hand on demand. Its simple design comprises a single actuated joint that pivots a haptic …

Human haptic perception system is complex, involving both cutaneous and kinesthetic
receptors. These receptors work together and enable human to perceive the external world …

We introduce CapstanCrunch, a force resisting, palm-grounded haptic controller that
renders haptic feedback for touching and gras** both rigid and compliant objects in a VR …

Perceiving objects' and avatars' weight in Virtual Reality (VR) is important to understand
their properties and naturally interact with them. However, commercial VR controllers cannot …

This work spans and combines a wide range of research topics. In order to classify this work
within the robotics research landscape, this chapter provides a survey about all adjoining …

HaptiVec is a new haptic feedback paradigm for handheld controllers which allows users to
feel directional haptic pressure vectors on their fingers and hands while interacting with …