Haptic PIVOT: On Demand Handhelds in VR

We present PIVOT, a wristworn haptic device that renders virtual objects into the users hand on demand. Its simple design comprises a single actuated joint that pivots a haptic handle into and out of the users hand, rendering the haptic sensations of grasping, catching, or throwing an object anywhere in space. Unlike existing handheld haptic devices and haptic gloves, PIVOT leaves the users palm free when not in use, allowing users to make unencumbered use of their hand. PIVOT also enables rendering