Haptic technologies for direct touch in virtual reality.

Virtual reality (VR) is experiencing a renaissance thanks to technological progress in computer graphics and the commercial breakthroughs in head-mounted display and tracking technologies. Fully immersive VR requires virtual touch of comparably high quality, to allow bimanual interaction with the environment. However, current VR systems lack the ability to convey realistic haptic (kinesthetic and cutaneous) sensations, because traditional haptic technologies have focused on grounded, kinesthetic haptic interfaces that render virtual environments by outputting a force through a robotic end effector. They provide compelling simulations of toolbased interaction, but do not allow users to touch virtual content directly with their hands.