Handheld kinesthetic haptic interfaces can provide greater mobility and richer tactile information as compared to traditional grounded devices. In this paper, we introduce a new handheld haptic interface which takes input using bidirectional coupled finger flexion. We present the device design motivation and design details and experimentally evaluate its performance in terms of transparency and rendering bandwidth using a handheld prototype device. In addition, we assess the device's functional performance through a user study comparing the proposed device to a commonly used grounded input device in a set of targeting and tracking tasks.

翻译：手持式动觉触觉界面相较于传统接地设备，可提供更强的移动性及更丰富的触觉信息。本文介绍一种采用双向耦合手指屈曲输入的新型手持触觉界面。我们阐述了该设备的设计动机与具体设计方案，并通过手持原型设备实验评估了其在透明度和渲染带宽方面的性能表现。此外，我们通过一项用户研究对比该设备与常用接地输入设备在定位追踪任务中的功能表现，以评估其整体可用性。