The DOI matches its Crossref record; 36 of the 36 references it cites were found in a registry or an index.
Grabity: A Wearable Haptic Interface for Simulating Weight and Grasping in Virtual Reality
Open accessAbstract
Ungrounded haptic devices for virtual reality (VR) applications lack the ability to convincingly render the sensations of a grasped virtual object's rigidity and weight. We present Grabity, a wearable haptic device designed to simulate kinesthetic pad opposition grip forces and weight for grasping virtual objects in VR. The device is mounted on the index finger and thumb and enables precision grasps with a wide range of motion. A unidirectional brake creates rigid grasping force feedback. Two voice coil actuators create virtual force tangential to each finger pad through asymmetric skin deformation. These forces can be perceived as gravitational and inertial forces of virtual objects. The rotational orientation of the voice coil actuators is passively aligned with the real direction of gravity through a revolute joint, causing the virtual forces to always point downward. This paper evaluates the performance of Grabity through two user studies, finding promising ability to simulate different levels of weight with convincing object rigidity. The first user study shows that Grabity can convey various magnitudes of weight and force sensations to users by manipulating the amplitude of the asymmetric vibration. The second user study shows that users can differentiate different weights in a virtual environment using Grabity.
Overview
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Integrity signals
Registry
Cites
Statistics
Verification
Claims the paper makes
The claims and statistics of this paper haven’t been checked yet.
Run the check — free, no account needed. It reads the open-access text and checks the sources it cites.
Self-check
Percentages, sums and reported differences re-computed from the paper’s own numbers.
The self-check needs the paper’s full text.
Citations
Cites
Hand movements: A window into haptic object recognition
Lederman, S. J., & Klatzky, R. L. (1987) · Cognitive Psychology · doi:10.1016/0010-0285(87)90008-9 · Cited by 2,016
Johansson, R. S., & Westling, G. (1984) · Experimental Brain Research · doi:10.1007/bf00237997 · Cited by 1,703
The PHANToM Haptic Interface: A Device for Probing Virtual Objects
Massie, T. H., & Salisbury, J. K. (1994) · Dynamic Systems and Control: Volume 1 — Control Theory/Methodology; Robust Control; Applied Nonlinear Control Systems; QFT Designs in Industrial, Government, Academic Settings; Robot Control; Impedance Planning for Robotics; Haptic Interfaces for Virtual Environment/Teleoperator Systems; Intelligent Control Systems; Intelligent Process Control; Neural Networks · doi:10.1115/imece1994-0452 · Cited by 1,372
The Staircase-Method in Psychophysics
Cornsweet, T. N. (1962) · The American Journal of Psychology · doi:10.2307/1419876 · Cited by 1,330
The roles and functions of cutaneous mechanoreceptors
Johnson, K. (2001) · Current Opinion in Neurobiology · doi:10.1016/s0959-4388(00)00234-8 · Cited by 1,141
The Rutgers Master II-new design force-feedback glove
Bouzit, M., Burdea, G., Popescu, G., & Boian, R. (2002) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2002.1011262 · Cited by 570
MacKenzie, C. L., & Iberall, T. (2011) · Cited by 366
Perception of force and weight: Theory and research.
Jones, L. A. (1986) · Psychological Bulletin · doi:10.1037//0033-2909.100.1.29 · Cited by 349
Gu, X., Zhang, Y., Sun, W., Bian, Y., Zhou, D., & Kristensson, P. O. (2016) · Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems · doi:10.1145/2858036.2858487 · Cited by 327
Benko, H., Holz, C., Sinclair, M., & Ofek, E. (2016) · Proceedings of the 29th Annual Symposium on User Interface Software and Technology · doi:10.1145/2984511.2984526 · Cited by 298
Cited by
Haptic Codecs for the Tactile Internet
Steinbach, E., Strese, M., Eid, M., Liu, X., Bhardwaj, A., Liu, Q., Al-Ja'Afreh, M., Mahmoodi, T., Hassen, R., El Saddik, A., et al. (2019) · Proceedings of the IEEE · doi:10.1109/jproc.2018.2867835 · Cited by 166
Wireality: Enabling Complex Tangible Geometries in Virtual Reality with Worn Multi-String Haptics
Fang, C., Zhang, Y., Dworman, M., & Harrison, C. (2020) · Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems · doi:10.1145/3313831.3376470 · Cited by 149
CapstanCrunch: A Haptic VR Controller with User-supplied Force Feedback
Sinclair, M., Ofek, E., Gonzalez-Franco, M., & Holz, C. (2019) · Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology · doi:10.1145/3332165.3347891 · Cited by 95
High-Fidelity Grasping in Virtual Reality using a Glove-based System
Liu, H., Zhang, Z., Xie, X., Zhu, Y., Liu, Y., Wang, Y., & Zhu, S.-C. (2019) · 2019 International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra.2019.8794230 · Cited by 73
Holdable haptic device for 4-dof motion guidance.
Walker, J. M., Zemiti, N., Poignet, P., & Okamura, A. M. (2019) · 2019 IEEE World Haptics Conference (WHC) · doi:10.1109/whc.2019.8816171 · Cited by 28
Metadata
- Authors
- Choi, I., Culbertson, H., Miller, M. R., Olwal, A., & Follmer, S.
- Venue
- Proceedings of the 30th Annual ACM Symposium on User Interface Software and Technology
- Publisher
- ACM
- Published
- 2017-10-20
- Pages
- 119-130
- OpenAlex
- W2766544714
- Cited by
- 266
- References
- 36
- FWCI
- 51.54
- Type
- conference paper
- Language
- en
- Open access
- bronze
About these checks
Registry, retraction, Cites and statistics results are computed, not judged, with one exception: a printed reference that no index lists is read once by a model before it counts as a citation error. Claims are extracted by a model and kept only when their quote appears verbatim in the text; each cited source is then checked, with a model’s help, for whether it says what the claim relies on. Those verdicts can be wrong — read the claim’s quote and the cited source before relying on one.
Statistics and arithmetic are recomputed, not judged.
Confidence bands are shown only for fields calibrated on our annotated test set. None is calibrated yet, so no band is shown.
What counts as a claim ›How we measure confidence ›How we check this ›
Are you an author, or do you see a problem with this page? Request a review
How to cite
Cite CoChat for the checks on this page, and the paper for its own findings.
- This page
- CoChat. (2026). Citation check: Grabity: A Wearable Haptic Interface for Simulating Weight and Grasping in Virtual Reality. https://app.cochat.ai/papers/10.1145/3126594.3126599
- The paper
- Choi, I., Culbertson, H., Miller, M. R., Olwal, A., & Follmer, S. (2017). Grabity: A Wearable Haptic Interface for Simulating Weight and Grasping in Virtual Reality. Proceedings of the 30th Annual ACM Symposium on User Interface Software and Technology. https://doi.org/10.1145/3126594.3126599
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
