  This study presents a lightweight, wearable fingertip haptic device that
provides physics-based haptic feedback for dexterous manipulation in virtual
environments without hindering real-world interactions. The device's design
utilizes thin strings and actuators attached to the fingernails, minimizing the
weight (1.76g each finger) while preserving finger flexibility. Multiple types
of haptic feedback are simulated by integrating the software with a physics
engine. Experiments evaluate the device's performance in pressure perception,
slip feedback, and typical dexterous manipulation tasks. and daily operations,
while subjective assessments gather user experiences. Results demonstrate that
participants can perceive and respond to pressure and vibration feedback. These
limited haptic cues are crucial as they significantly enhance efficiency in
virtual dexterous manipulation tasks. The device's ability to preserve tactile
sensations and minimize hindrance to real-world operations is a key advantage
over glove-type haptic devices. This research offers a potential solution for
designing haptic interfaces that balance lightweight, haptic feedback for
dexterous manipulation and daily wearability.
