  Haptic devices have been employed to immerse users in VR environments. In
particular, hand and finger haptic devices have been deeply developed. However,
this type of device occlude the hand detection by some tracking systems, or in
other tracking systems, it is uncomfortable for the users to wear two-hand
devices (haptic and tracking device). We introduce RecyGlide, which is a novel
wearable forearm multimodal display at the forearm. The RecyGlide is composed
of inverted five-bar linkages and vibration motors. The device provides
multimodal tactile feedback such as slippage, a force vector, pressure, and
vibration. We tested the discrimination ability of monomodal and multimodal
stimuli patterns in the forearm and confirmed that the multimodal stimuli
patterns are more recognizable. This haptic device was used in VR applications,
and we proved that it enhances VR experience and makes it more interactive.
