  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.
