A Forearm-Worn Haptic Device for Integrated Tactile and Kinaesthetic Feedback via Skin Stretch

We propose a forearm-worn haptic device that integrates tactile skin-stretch feedback with kinaesthetic force feedback from a grounded haptic device. The wearable module generates lateral skin deformation corresponding to the tangential components of the applied kinaesthetic force, moving the skin in the opposite direction to produce coherent tactile cues that effectively convey sensations of surface friction and tangential shear, reinforcing the perception of contact with virtual surfaces. This integration aims to enhance both perceptual realism and transparency during haptic interaction. A series of preliminary experiments were conducted in a Chai3D-based virtual environment, where users interacted with virtual walls and corners while receiving combined feedback. The results demonstrate that the proposed device can render directionally accurate and temporally synchronized skin-stretch cues consistent with the kinaesthetic forces, validating its potential for multimodal haptic interaction.