Altering the Stiffness, Friction, and Shape Perception of Tangible Objects in Virtual Reality Using Wearable Haptics.

Tangible objects are used in virtual reality (VR) and augmented reality (AR) to enhance haptic information on the general shape of virtual objects. However, they are often passive or unable to simulate rich varying mechanical properties. This article studies the effect of combining simple passive tangible objects and wearable haptics for improving the display of varying stiffness, friction, and shape sensations in these environments.