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This paper outlines the design, characterization, and validation of a novel wearable haptic device capable of delivering skin stretch, force feedback, or a combination of both, to the user&#x0027;s arm. In this study, we conducted physical and perceptual characterization with eleven able-bodied participants, and two separate experiments involving discrimination and manipulation tasks, encompassing a total of 32 participants. In both experiments, we used the CUFF device in conjunction with the Pisa/IIT SoftHand. The first experiment was a discrimination task in which participants were required to differentiate between pairs of cylinders based on their dimensions and perceived softness. The second experiment called for participants to control the robotic hand in order to grasp objects. Following the experiments, participants provided a subjective evaluation of the device. The results from the experiments and the participants&#x0027; feedback underscored the effectiveness of the proposed device. Thanks to its versatility and structural design, the device shows promise as a viable solution for a variety of applications, including teleoperation, guidance, rehabilitation tasks, and prosthetic applications.

The CUFF, Clenching Upper-Limb Force Feedback Wearable Device: Design, Characterization and Validation