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We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic devicethat is created using origami fabrication techniques. The 4-DoF device is aparallel kinematic mechanism capable of delivering normal, shear, and torsionalhaptic feedback to the fingertip. Traditional methods of robot fabrication arenot well suited for designing small robotic devices because it is challengingand expensive to manufacture small, low-friction joints. Our device usesorigami manufacturing principles to reduce complexity and the device footprint.We characterize the bandwidth, workspace, and force output of the device. Thecapabilities of the torsion-DoF are demonstrated in a virtual reality scenario.Our results show that the device can deliver haptic feedback in 4-DoFs with aneffective operational workspace of 0.64cm$^3$ with $\pm 30 ^ \circ$ rotation atevery location. The maximum forces and torques the device can apply in the x-,y-, z-, and $\theta$-directions, are $\pm$1.5N, $\pm$1.5N, 2N, and 5N$\cdot$mm,respectively, and the device has an operating bandwidth of 9Hz.

A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback