Hap-link: wearable haptic device on the forearm that presents haptics sensations corresponding to the fingers

We developed a device that presents the haptic sensation of the fingertip to the forearm rather than to the fingertip as a new haptic presentation method for objects in a virtual reality environment. The device adopts a five-bar linkage mechanism and a Peltier element and presents the strength and direction of a force, vibration and the thermal sensation to the forearm. Compared with a fingertip-mounted display, it is possible to address issues of weight and size that hinder the free movement of fingers. Users can feel differences in texture and hardness/softness of objects, and experiences in the virtual reality environment are better than those without haptics cues even though haptics information is not directly presented to the fingertip.1