MMGrip: A Handheld Multimodal Haptic Device Combining Vibration, Impact, and Shear for Realistic Expression of Contact.

We introduce MMGrip, a handheld multimodal haptic device that simultaneously presents vibration, impact, and shear for realistic and immersive haptic feedback to virtual collision events. The three types of haptic stimulus mimic a damped vibration, a collision impulse, and a skin slip deformation, respectively, occurring at physical contact. Controlling the three stimuli, as well as their onset time differences, provides a vast design space for offering diverse and realistic haptic experiences. We present the design of MMGrip and demonstrates its application to virtual sports.