Wearable Haptic Device for Stiffness Rendering of Virtual Objects in Augmented Reality

We propose a novel wearable haptic device that can provide kinesthetic feedback for stiffness rendering of virtual objects in augmented reality (AR). Rendering using is crucial realistic finger-based object manipulation, yet challenging particularly AR due to the co-presence real hand, device, and rendered scenes. By adopting passive actuation with tendon-based transmission mechanism, proposed generate strong enough immersive manipulation prevention inter-penetration small-form-factor, while maximizing wearability minimizing occlusion usage. A selective locking module adopted allow elasticity objects. perform an experimental study two-finger grasping verify efficacy AR. also quantitatively compare/articulate effects different types feedbacks across visual sense (i.e., feedback, vibrotactile visuo-haptic feedback) first time.