Abstract: A wearable haptic modulation device for real-time simulation of texture properties of a material surface in mixed reality environments is provided. Particularly, it includes a U-shaped pneumatic actuator surrounds a user's fingertip, a finger-housing support creating a space for fingertip containment, a resonant actuator on the finger-housing support generating vibrotactile feedback to enhance perceived roughness on touched physical surfaces, and a pneumatic control system generating pneumatic actuation to reduce the perceived roughness on touched physical surface. Notably, the U-shaped pneumatic actuator allows direct contact of the user's fingerpad with the touched physical surface.

Abstract: The present invention provides a device and a system for simulating the buoyancy and the resistive force. The system comprises a pair of wearable devices, each of the wearable devices comprises a calf shell, a first ducted fan, a second ducted fan, a first connection component, a second connection component and a tracker. The first ducted fan and the second ducted fan operate in non-zero duty cycles for generating a first force in a first direction, and a second force in a second direction. The first direction and the second direction are in different directions. The sum of the first force and the second force are the sum of the resistive force, the buoyant force, the potential weights and the weight of the wearable device. The tracker further transmits feedback data to control system.