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We often interact with our environment through manual handling of objects and exploration of their properties. Object properties (OP), such as texture, stiffness, size, shape, temperature, weight, and orientation provide necessary information to successfully perform interactions. The human haptic perception system plays a key role in this. As virtual reality (VR) has been a growing field of interest with many applications, adding haptic feedback to virtual experiences is another step towards more realistic virtual interactions. However, integrating haptics in a realistic manner, requires complex technological solutions and actual user-testing in virtual environments (VEs) for verification. This review provides a comprehensive overview of recent wearable haptic devices (HDs) categorized by the OP exploration for which they have been verified in a VE. We found 13 studies which specifically addressed user-testing of wearable HDs in healthy subjects. We map and discuss the different technological solutions for different OP exploration which are useful for the design of future haptic object interactions in VR, and provide future recommendations.

Most haptic devices generate haptic sensation using mechanical actuators. However, the workload and limited workspace handicap the operator from operating freely. Electrical stimulation is an alternative approach to generate haptic sensations without using mechanical actuators. The light weight of the electrodes adhering to the body brings no limitations to free motion. Because a real haptic sensation consists of feelings from several areas, mounting the electrodes to several different body areas can make the sensations more realistic. However, simultaneously stimulating multiple electrodes may result in “noise” sensations. Moreover, the operators may feel tingling because of unstable stimulus signals when using the dry electrodes to help develop an easily mounted haptic device using electrical stimulation. In this study, we first determine the appropriate stimulation areas and stimulus signals to generate a real touch sensation on the forearm. Then, we propose a circuit design guideline for generating stable electrical stimulus signals using a voltage divider resistor. Finally, based on the aforementioned results, we develop a wearable haptic glove prototype. This haptic glove allows the user to experience the haptic sensations of touching objects with five different degrees of stiffness.

Bidirectional haptic systems demand interfaces that combine sensing and actuation, enabling concurrent detection of tactile inputs and delivery of perceptually rich feedback across a broad frequency spectrum. However, most existing haptic technologies remain limited to simple tactile sensing or narrowband feedback, struggling to resolve continuous motions and simultaneous sensory cues required for naturalistic human‐machine interaction (HMI). These limitations fundamentally constrain the fidelity and expressiveness of tactile communication, preventing current human–machine interfaces from reproducing the broadband of sensations perceived by human skin. Here, we present a large‐area bidirectional human–machine interface (HMI) that utilizes a unified haptic dual‐resonant actuator (UHDRA) capable of simultaneously implementing electrostatic‐based multimodal tactile sensing and actuation. The system provides spatially uniform tactile stimulation over a broad frequency range of 20–250 Hz while simultaneously enabling real‐time detection without interference from actuator‐induced vibration. Leveraging the actuator's intrinsic structural stiffness, the interface maintains stable vibration amplitudes into the gentle‐touch regime (≈2 N) while selectively modulating frequency, allowing clear discrimination of diverse tactile stimuli without perceptual discontinuity. Building on this decoupled bidirectional interaction capability, the proposed approach offers transformative potential for next‐generation applications such as bidirectional telerobotic and augmented interactions. We present a large‐area bidirectional human–machine interface integrating electrostatic multimodal tactile sensing with a dual‐resonant haptic actuator. The system enables linear pressure sensing that is decoupled from actuation and stable broadband vibrotactile feedback under dynamic contact conditions, supporting real‐time feedback modulation aligned with human perception. This scalable, power‐efficient platform advances telerobotic and augmented interaction.

This study aims to explore a feasible form of a haptic device for common users. We propose HAPmini, a novel graspable haptic device that enhances the user’s touch interaction. To achieve this enhancement, the HAPmini is designed with low mechanical complexity, few actuators, and a simple structure, while still providing force and tactile feedback to users. Despite having a single solenoid-magnet actuator and a simple structure, the HAPmini can provide haptic feedback corresponding to a user’s 2-dimensional touch interaction. Based on the force and tactile feedback, the hardware magnetic snap function and virtual texture were developed. The hardware magnetic snap function helped users perform pointing tasks by applying an external force to their fingers to enhance their touch interaction performance. The virtual texture simulated the surface texture of a specific material through vibration and delivered a haptic sensation to users. In this study, five virtual textures (i.e., reproductions of the textures of paper, jean, wood, sandpaper, and cardboard) were designed for HAPmini. Both HAPmini functions were tested in three experiments. First, a comparative experiment was conducted, and it was confirmed that the hardware magnetic snap function could increase the performance of pointing tasks to the same extent as the software magnetic snap function could, which is commonly used in graphical tools. Second, ABX and matching tests were conducted to determine whether HAPmini could generate the five virtual textures , which were designed differently and sufficiently well for the participants to be distinguished from each other. The correctness rates of the ABX and the matching tests were 97.3% and 93.3%, respectively. The results confirmed that the participants could distinguish the virtual textures generated using HAPmini. The experiments indicate that HAPmini enhances the usability of touch interaction ( hardware magnetic snap function ) and also provides additional texture information that was previously unavailable on the touchscreen ( virtual texture ).

Virtual reality (VR) has gained significant attention in various fields including healthcare and industrial applications. Within healthcare, an interesting application of VR can be found in the field of physiotherapy. The conventional methodology for rehabilitating upper limb lesions is often perceived as tedious and uncomfortable. The manual nature of the process, performed by physicians, leaves patients in an environment lacking motivation and engagement. This presents an opportunity for implementing VR as a tool to enhance the rehabilitation process and improve the quality, efficiency, and evolution of recovery. However, physiotherapy often lacks relevant data to track the recovery process effectively, further compounding concerns about its efficacy. To address this, we propose the development of a posture control system using the Oculus Quest 2, a VR device. Our primary objective was to validate the performance aspects of this device and assess its potential as a rehabilitation tool, providing valuable support to healthcare professionals. Through a series of tests, we evaluated the effectiveness of our VR solution by integrating it into specific therapeutic exercises. This approach enhances patient involvement by offering real-time feedback on exercise execution and providing clear instructions for posture correction. The results demonstrate a notable impact on exercise performance, highlighting the feasibility of developing physiotherapeutically adapted solutions utilizing VR technology. By leveraging the Oculus Quest 2 system and the proposed framework, our research contributes to the advancement of VR-based rehabilitation practices. The findings offer valuable insights into the potential benefits of integrating immersive technologies into the field of physiotherapy, empowering healthcare professionals in their treatment approaches.

Novel sensing and actuation technologies have notably advanced haptic interfaces, paving the way for more immersive user experiences. We introduce a haptic system that transcends traditional pressure-based interfaces by delivering more comprehensive tactile sensations. This system provides an interactive combination of a robotic hand and haptic glove to operate devices within the wireless communication range. Each component is equipped with independent sensors and actuators, enabling real-time mirroring of user’s hand movements and the effective transmission of tactile information. Remarkably, the proposed system has a multimodal feedback mechanism based on both vibration motors and Peltier elements. This mechanism ensures a varied tactile experience encompassing pressure and temperature sensations. The accuracy of tactile feedback is meticulously calibrated according to experimental data, thereby enhancing the reliability of the system and user experience. The Peltier element for temperature feedback allows users to safely experience temperatures similar to those detected by the robotic hand. Potential applications of this system are wide ranging and include operations in hazardous environments and medical interventions. By providing realistic tactile sensations, our haptic system aims to improve both the performance and safety of workers in such critical sectors, thereby highlighting the great potential of advanced haptic technologies.

PURPOSE: To assess the rotational stability of a new toric intraocular lens (IOL), TECNIS toric II (toric II), which is a modified version of the TECNIS toric IOL (toric I) with frosted haptics (Johnson & Johnson). METHODS: A total of 101 eyes of 101 patients who had been treated with phacoemulsification and toric IOL implantation were included. Before and 1 day, 1 week, and 1 month after surgery, uncorrected (UDVA) and corrected (CDVA) distance visual acuity were measured. Preoperative corneal astigmatism and postoperative manifest refractive astigmatism at 1 day and 1 month were analyzed. At 1 day and 1 month postoperatively, the amount of IOL axis misalignment from the intended orientation, tilt, and decentration were measured using anterior segment optical coherence tomography. RESULTS: Fifty-one eyes received the toric I IOL and 50 eyes received the toric II IOL. Toric I IOLs showed a significantly larger amount of axis misalignment than toric II IOLs at both 1 day (9.6 ± 7.6° vs 5.4 ± 4.8°, P = .003) and 1 month (9.1 ± 7.8° vs. 4.7 ± 4.2°, P = .003) postoperatively.The proportion of eyes with misalignment greater than 10° was significantly larger with toric I than toric II IOLs (P < .001). There were no significant differences between IOLs in the amount of residual astigmatism, UDVA, CDVA, and amount of tilt and decentration at 1 day and 1 month postoperatively. CONCLUSIONS: The TECNIS toric II IOL with frosted haptics has significantly improved rotational stability compared to its previous model. [J Refract Surg. 2022;38(10):648–653.]

Traditional technologies for virtual reality (VR) and augmented reality (AR) create human experiences through visual and auditory stimuli that replicate sensations associated with the physical world. The most widespread VR and AR systems use head-mounted displays, accelerometers and loudspeakers as the basis for three-dimensional, computer-generated environments that can exist in isolation or as overlays on actual scenery. In comparison to the eyes and the ears, the skin is a relatively underexplored sensory interface for VR and AR technology that could, nevertheless, greatly enhance experiences at a qualitative level, with direct relevance in areas such as communications, entertainment and medicine 1 , 2 . Here we present a wireless, battery-free platform of electronic systems and haptic (that is, touch-based) interfaces capable of softly laminating onto the curved surfaces of the skin to communicate information via spatio-temporally programmable patterns of localized mechanical vibrations. We describe the materials, device structures, power delivery strategies and communication schemes that serve as the foundations for such platforms. The resulting technology creates many opportunities for use where the skin provides an electronically programmable communication and sensory input channel to the body, as demonstrated through applications in social media and personal engagement, prosthetic control and feedback, and gaming and entertainment. Interfaces for epidermal virtual reality technology are demonstrated that can communicate by programmable patterns of localized mechanical vibrations.

Imagine a community that does not only exist of humans but also has animals and robots as equal partners. How do we imagine physical interactions with others in such a community will feel? In this paper, we describe an experiment in which 172 participants designed haptic cues related to 13 presented images of a non-human animal or robot. We designed the experiment as an interactive experience at a science festival, where we used soft robotic haptic displays to present haptic cues. The results show that within the presented parameter space, the design choices of the participants were consistent, with clear differences between most of the images. For example, the haptic cue chosen for the elephant was very different from that of the spider. More specifically, we observe that haptic cue frequency and pressure are both correlated with haptic cue area, where larger cue size is associated with lower frequency and higher pressure. Overall, the results of the experiment demonstrate the potential of a large soft robotic haptic display as a versatile interface for human-machine interaction, and of our interactive experiment design as a tool for haptic cue classification by probing shared expectations among human participants.

Objective To study the effect of astigmatism correction, rotational stability, and related factors of two different haptic type toric intraocular lenses. Methods A prospective, randomized, controlled trial. Cataract patients with preoperative corneal astigmatism of > 1 D were randomly implanted with C-loop haptic toric IOL (AcrySof-toric IOL) (group A) or plate-haptic toric IOL (AT TORBI 709 M IOL) (group B). The residual astigmatism, intraocular lens rotation, and visual quality were determined and compared between the two groups at 3 months after surgery. Results Seventy-nine eyes were included in this study, including 40 eyes in the group A and 39 eyes in the group B. No significant difference in preoperative visual acuity, intraocular pressure, and ophthalmic biological parameters was found between the two groups. There was no significant difference in residual astigmatism between the two groups at 3 months after surgery ( P  > 0.05). The rotation degree in the group A was 3.85 ± 2.92°, the rotation degree in the group B was 2.33 ± 2.31°, and a significant difference in intraocular lens rotation was identified between the two groups ( P  < 0.05). Upon exploring the rotation-related factors of the two different haptic type toric intraocular lenses, the rotation after implanting C-loop haptic toric IOL was positively correlated with axial length (Pearson r = 0.522, P  = 0.01) and corneal white-to-white distance (Pearson correlation analysis r = 0.356, P  = 0.024). Conclusions The two different haptic type toric intraocular lenses effectively corrected regular corneal astigmatism and provided a good rotational stability after surgery. But the stability of plate-haptic toric IOL was better than that of C-loop haptic toric IOL. The rotational stability of C-loop haptic toric IOL was often related to axial length and corneal white-to-white distance.