Inrak Choi, Heather Culbertson, Mark R. Miller, Alex Olwal and Sean Follmer. “Grabity: A Wearable Haptic Interface for Simulating Weight and Grasping in Virtual Reality”, Stanford University Department of Mechanical Engineering.
“Grabity is a novel, unified design based on the combination of vibrotactile feedback, uni-directional brakes, and asymmetric skin stretch. The gripper-style haptic device can simulate grasping motions with a real object (top), in Virtual Reality (bottom). Gravity provides vibrotactile feedback during contact, high stiffness force feedback during grasping, and weight force feedback during lifting.”
Sources: Choi, Inrak, Heather Culbertson, Mark R. Miller, Alex Olwal and Sean Follmer. “Grabity: A Wearable Haptic Interface for Simulating Weight and Grasping in Virtual Reality”, Stanford University Department of Mechanical Engineering. http://shape.stanford.edu/research/grabity/.