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 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 …

We present a new handheld haptic device, Thor's Hammer, which uses propeller propulsion
to generate ungrounded, 3-DOF force feedback. Thor's Hammer has six motors and …

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 …

We present GyroVR, head worn flywheels designed to render inertia in Virtual Reality (VR.
Motions such as flying, diving or floating in outer space generate kinesthetic forces onto our …

From creating input devices to rendering tangible information, the field of HCI is interested in
using kinematic mechanisms to create human-computer interfaces. Yet, due to fabrication …

Impact events, which generate directional forces with extremely short impulse durations and
large force magnitudes, are prevalent in both virtual reality (VR) games and real-world …

This paper presents a system of two double-gimbal control moment gyroscopes (CMGs) for
providing ungrounded kinesthetic haptic feedback. By spinning a second flywheel opposite …

Can we experience haptic textures in mid-air? Typically, the experience of texture is caused
by vibration of the fingertip as it moves over the surface of an object. This object's surface …

Most haptic actuators available on the market today can generate only a single modality of
stimuli. This ultimately limits the capacity of a kinaesthetic haptic controller to deliver more …