Lightweight Wearable Fingertip Haptic Device with Tangential Force Feedback based on Finger Nail Stimulation

This work presents a lightweight wearable haptic device that achieves tangential force feedback through fingernail stimulation. The device addresses the challenge of providing directional force feedback while maintaining the natural tactile sensitivity of the finger pad.

The device features a ring-like structure mounted on the fingernail side with three miniature motors. Two motors provide string-based force feedback in the distal-proximal direction, while a third motor uses an arc-shaped pin for radial-ulnar stimulation. This configuration enables 2-DOF tangential force feedback while keeping the finger pad completely unobstructed.

By relocating the actuators to the nail side rather than blocking the finger pad, users retain their natural tactile sensitivity for touching real objects. The total device weight is only 5.24g, making it practical for extended wear during virtual reality applications.

The system can generate nine distinct force patterns through combinations of string tension and pin pressure. This enables rich haptic feedback that can simulate various object properties and interaction forces in virtual environments.

We conducted preliminary user studies evaluating direction discrimination capabilities and users’ ability to perceive different weights and friction coefficients in virtual environments. The device demonstrates effective tangential force rendering while maintaining the practical advantages of lightweight wearable design.

Publication Details

Published in: 2025 IEEE Conference on Virtual Reality and 3D User Interfaces Abstracts and Workshops (VRW)
Authors: Yunxiu Xu, Siyu Wang, Shoichi Hasegawa
Conference Date: March 8-12, 2025
Location: Saint Malo, France
DOI: 10.1109/VRW66409.2025.00278

This research advances wearable haptic technology by demonstrating how fingernail-based stimulation can provide effective directional force feedback without compromising the finger pad’s natural tactile capabilities. The lightweight design and multiple force patterns make it suitable for practical VR applications requiring both haptic feedback and real-world object interaction.