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Relocation of haptic feedback from the fingertips to the wrist has beenconsidered as a way to enable haptic interaction with mixed reality virtualenvironments while leaving the fingers free for other tasks. We present a pairof wrist-worn tactile haptic devices and a virtual environment to study howvarious mappings between fingers and tactors affect task performance. Thehaptic feedback rendered to the wrist reflects the interaction forces occurringbetween a virtual object and virtual avatars controlled by the index finger andthumb. We performed a user study comparing four different finger-to-tactorhaptic feedback mappings and one no-feedback condition as a control. Weevaluated users' ability to perform a simple pick-and-place task via themetrics of task completion time, path length of the fingers and virtual cube,and magnitudes of normal and shear forces at the fingertips. We found thatmultiple mappings were effective, and there was a greater impact when visualcues were limited. We discuss the limitations of our approach and describe nextsteps toward multi-degree-of-freedom haptic rendering for wrist-worn devices toimprove task performance in virtual environments.

Haptic Feedback Relocation from the Fingertips to the Wrist for Two-Finger Manipulation in Virtual Reality