Ye Li

iGripper: A Semi-Active Handheld Haptic VR Controller Based on Variable Stiffness Mechanism

We introduce iGripper, a handheld haptic controller designed to render stiffness feedback for gripping and clamping both rigid and elastic objects in virtual reality. iGripper directly adjusts physical stiffness by using a small linear actuator to modify the spring’s position along a lever arm, with feedback force gen…