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Updated: Apr 22, 2026

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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VibGrasp: Spatiotemporal Vibration Based Multimodal Haptic Rendering with a Lightweight Exo-Glove for 3D Shape

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    This study introduces a novel haptic feedback system for extended reality (XR) that enhances shape perception during grasp interactions. The method uses synchronized vibrotactile and kinesthetic feedback for more realistic shape rendering.

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    Area of Science:

    • Human-Computer Interaction
    • Haptics
    • Extended Reality (XR)

    Background:

    • Haptic feedback improves shape perception and task performance in XR.
    • Current wearable haptic devices are often bulky and complex.
    • Fingertip-based feedback limits continuous sensation during power grasps.

    Purpose of the Study:

    • To develop a practical and effective haptic shape rendering method for XR.
    • To enhance the perception of continuous and sequential tactile sensations.
    • To improve user immersion and satisfaction in virtual interactions.

    Main Methods:

    • Synchronized spatiotemporal vibrotactile feedback across multiple phalanges.
    • Integration of 1-DOF kinesthetic feedback.
    • Utilized funneling illusion and duration-modulated vibration patterns.
    • Developed a lightweight exoskeleton glove with dorsal-mounted vibration actuators.

    Main Results:

    • Demonstrated consistent shape associations and user preferences for specific feedback patterns.
    • The VR user-experience study showed higher ratings for realism, satisfaction, and harmony compared to prior methods.
    • The lightweight glove design effectively transmitted feedback without obstructing motion.

    Conclusions:

    • The proposed haptic rendering method offers improved realism and user experience in XR.
    • Findings provide insights for designing more immersive and efficient haptic feedback systems.
    • This approach addresses limitations of current wearable haptic technology for shape perception.