PAL-HAND.Q: A Handheld Device for Bidirectional and Multimodal Haptic Interaction

This paper presents the design of a novel handheld device, named PAL-HAND.Q, that enables bidirectional and multimodal haptic interaction with a remote control unit. This device can receive inputs from the user and render both kinesthetic and tactile feedback on his fingers. This is achieved through a unique combination of deformable membranes filled with pressurized fluid and mini vibrating motors. These elements work in synergy with an integrated electro-pneumatic system which is used to control the kinesthetic feedback. These characteristics result in a compact, lightweight, and versatile device, that can be used, for instance, in rehabilitation, alternative forms of communication, and augmented/virtual reality scenarios. In conclusion, an early prototype is realized, and a few practical aspects are discussed as well.