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Dennis Dietz, Steeven Villa, Moritz Ziarko, Michael Bonfert, Florian Mueller, Andreas Butz
Embracer: A Wearable Encountered-Type Haptic Controller for 3 DoF Input and Feedback
ISWC '24: Proceedings of the 2024 ACM International Symposium on Wearable Computers. Melbourne VIC Australia October 5 - 9, 2024. ACM, New York, NY, USA. (bib)

The lack of haptic sensations beyond very simple vibration feedback diminishes the feeling of presence in Virtual Reality. Research suggested various approaches to deliver haptic sensations to the userâs palm. However, these approaches are typically limited in the number of actuation directions and only focus on enhancing the systemâs output, ignoring haptic input. We present Embracer, a wrist-mounted encountered-type haptic controller that addresses these gaps by rendering forces along three axes through a sphere shaped end effector within the userâs palm. Using modified servo motors, we sense user-performed manipulations of the end effector as an input modality. In this paper, we contribute the design and implementation of Embracer together with a preliminary technical evaluation. By providing a more comprehensive haptic feedback system, Embracer enhances the realism and immersion of haptic feedback and user control.