  LinkGlide-S is a novel wearable hand-worn tactile display to deliver
multi-contact and multi-modal stimuli at the user's palm.} The array of
inverted five-bar linkages generates three independent contact points to cover
the whole palm area. \textcolor{black} {The independent contact points generate
various tactile patterns at the user's hand, providing multi-contact tactile
feedback. An impedance control delivers the stiffness of objects according to
different parameters. Three experiments were performed to evaluate the
perception of patterns, investigate the realistic perception of object
interaction in Virtual Reality, and assess the users' softness perception by
the impedance control. The experimental results revealed a high recognition
rate for the generated patterns. These results confirm that the performance of
LinkGlide-S is adequate to detect and manipulate virtual objects with different
stiffness. This novel haptic device can potentially achieve a highly immersive
VR experience and more interactive applications during telemanipulation.
