Jamming is a popular and versatile soft robotic mechanism, enabling new systems to be
developed that can achieve high stiffness variation with minimal volume variation …

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 …

We explore how to add haptics to walls and other heavy objects in virtual reality. When a
user tries to push such an object, our system actuates the user's shoulder, arm, and wrist …

The Wolverine is a mobile, wearable haptic device designed for simulating the grasping of
rigid objects in a virtual reality interface. In contrast to prior work on wearable force feedback …

Variable stiffness actuation has applications in a wide range of fields, including wearable
haptics, soft robots, and minimally invasive surgical devices. There have been numerous …

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 …

The sensation of being able to feel the shape of an object when grasping it in Virtual Reality
(VR) enhances a sense of presence and the ease of object manipulation. Though most prior …

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

Force feedback gloves have found many applications in fields such as teleoperation and
virtual reality. In order to enhance the immersive feeling of interaction with remote or virtual …

We present Haptic Links, electro-mechanically actuated physical connections capable of
rendering variable stiffness between two commodity handheld virtual reality (VR) controllers …