  We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device
that is created using origami fabrication techniques. The 4-DoF device is a
parallel kinematic mechanism capable of delivering normal, shear, and torsional
haptic feedback to the fingertip. Traditional methods of robot fabrication are
not well suited for designing small robotic devices because it is challenging
and expensive to manufacture small, low-friction joints. Our device uses
origami manufacturing principles to reduce complexity and the device footprint.
We characterize the bandwidth, workspace, and force output of the device. The
capabilities of the torsion-DoF are demonstrated in a virtual reality scenario.
Our results show that the device can deliver haptic feedback in 4-DoFs with an
effective operational workspace of 0.64cm$^3$ with $\pm 30 ^ \circ$ rotation at
every location. The maximum forces and torques the device can apply in the x-,
y-, z-, and $\theta$-directions, are $\pm$1.5N, $\pm$1.5N, 2N, and 5N$\cdot$mm,
respectively, and the device has an operating bandwidth of 9Hz.
