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Haptic devices have been employed to immerse users in VR environments. Inparticular, hand and finger haptic devices have been deeply developed. However,this type of device occlude the hand detection by some tracking systems, or inother tracking systems, it is uncomfortable for the users to wear two-handdevices (haptic and tracking device). We introduce RecyGlide, which is a novelwearable forearm multimodal display at the forearm. The RecyGlide is composedof inverted five-bar linkages and vibration motors. The device providesmultimodal tactile feedback such as slippage, a force vector, pressure, andvibration. We tested the discrimination ability of monomodal and multimodalstimuli patterns in the forearm and confirmed that the multimodal stimulipatterns are more recognizable. This haptic device was used in VR applications,and we proved that it enhances VR experience and makes it more interactive.

RecyGlide : A Forearm-worn Multi-modal Haptic Display aimed to Improve User VR Immersion