During virtual interactions, rendering haptic feedback on a remote location (like the wrist) instead of the fingertips freeing users' hands from mechanical devices. This allows for real interactions while still providing information regarding the mechanical properties of virtual objects. In this paper, we present CoWrHap -- a novel wrist-worn haptic device with custom-made voice coil actuation to render force feedback. Then, we investigate the impact of asking participants to use their dominant or non-dominant hand for virtual interactions and the best mapping between the active hand and the wrist receiving the haptic feedback, which can be defined as hand-wrist congruence through a user experiment based on a stiffness discrimination task. Our results show that participants performed the tasks (i) better with non-congruent mapping but reported better experiences with congruent mapping, and (ii) with no statistical difference in terms of hand dominance but reported better user experience and enjoyment using their dominant hands. This study indicates that participants can perceive mechanical properties via haptic feedback provided through CoWrHap.

翻译：在虚拟交互中，在远离指尖的部位（如手腕）呈现触觉反馈，可使用户双手脱离机械装置。这既能实现真实交互，又能提供关于虚拟物体力学特性的信息。本文提出CoWrHap——一种采用定制音圈致动的新型腕戴式触觉装置，用于施加力反馈。我们通过刚度辨别任务开展用户实验，探究要求参与者使用优势手或非优势手进行虚拟交互的影响，以及活动手与接受触觉反馈手腕之间的最优映射关系（可定义为手腕一致性）。结果表明：（i）参与者采用非一致性映射时任务表现更优，但一致性映射带来的体验评价更高；（ii）手部优势对任务表现无显著统计学差异，但使用优势手时用户体验和愉悦感更佳。本研究证实，参与者能通过CoWrHap提供的触觉反馈感知力学特性。