Embracer: A Wearable Encountered-Type Haptic Controller for 3 DoF Input and Feedback

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 user's palm. However, these approaches are typically limited in the number of actuation directions and only focus on enhancing the system's output, ignoring haptic input. We present \systemname{}, 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 user's 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 \systemname{} together with a preliminary technical evaluation. By providing a more comprehensive haptic feedback system, \systemname{} enhances the realism and immersion of haptic feedback and user control.