  This paper presents a novel haptic device DeltaFinger designed to deliver the
force of interaction with virtual objects by guiding user's finger with
wearable delta mechanism. The developed interface is capable to deliver 3D
force vector to the fingertip of the index finger of the user, allowing complex
rendering of virtual reality (VR) environment. The developed device is able to
produce the kinesthetic feedback up to 1.8 N in vertical projection and 0.9 N
in horizontal projection without restricting the motion freedom of of the
remaining fingers. The experimental results showed a sufficient precision in
perception of force vector with DeltaFinger (mean force vector error of 0.6
rad). The proposed device potentially can be applied to VR communications,
medicine, and navigation of the people with vision problems.
