{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,20]],"date-time":"2026-05-20T14:16:16Z","timestamp":1779286576022,"version":"3.51.4"},"reference-count":42,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2023,2,1]],"date-time":"2023-02-01T00:00:00Z","timestamp":1675209600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100013348","name":"Innosuisse-Swiss Innovation Agency","doi-asserted-by":"publisher","award":["52272.1 IP-SBM"],"award-info":[{"award-number":["52272.1 IP-SBM"]}],"id":[{"id":"10.13039\/501100013348","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>We often interact with our environment through manual handling of objects and exploration of their properties. Object properties (OP), such as texture, stiffness, size, shape, temperature, weight, and orientation provide necessary information to successfully perform interactions. The human haptic perception system plays a key role in this. As virtual reality (VR) has been a growing field of interest with many applications, adding haptic feedback to virtual experiences is another step towards more realistic virtual interactions. However, integrating haptics in a realistic manner, requires complex technological solutions and actual user-testing in virtual environments (VEs) for verification. This review provides a comprehensive overview of recent wearable haptic devices (HDs) categorized by the OP exploration for which they have been verified in a VE. We found 13 studies which specifically addressed user-testing of wearable HDs in healthy subjects. We map and discuss the different technological solutions for different OP exploration which are useful for the design of future haptic object interactions in VR, and provide future recommendations.<\/jats:p>","DOI":"10.3390\/s23031563","type":"journal-article","created":{"date-parts":[[2023,2,1]],"date-time":"2023-02-01T01:36:59Z","timestamp":1675215419000},"page":"1563","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":43,"title":["An Overview of Wearable Haptic Technologies and Their Performance in Virtual Object Exploration"],"prefix":"10.3390","volume":"23","author":[{"given":"Myla","family":"van Wegen","sequence":"first","affiliation":[{"name":"Department of Precision and Microsystems Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2770-0539","authenticated-orcid":false,"given":"Just L.","family":"Herder","sequence":"additional","affiliation":[{"name":"Department of Precision and Microsystems Engineering, Delft University of Technology, 2628 CD Delft, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Rolf","family":"Adelsberger","sequence":"additional","affiliation":[{"name":"Sensoryx AG, 8005 Zurich, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Manuela","family":"Pastore-Wapp","sequence":"additional","affiliation":[{"name":"Gerontechnology and Rehabilitation Group, ARTORG Center for Biomedical Engineering Research, University of Bern, 3008 Bern, Switzerland"},{"name":"Neurocenter, Luzerner Kantonsspital, 6000 Luzern, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Erwin E. H.","family":"van Wegen","sequence":"additional","affiliation":[{"name":"Department of Rehabilitation Medicine, Amsterdam Movement Sciences, Amsterdam UMC, VUmc, 1117 HV Amsterdam, The Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Stephan","family":"Bohlhalter","sequence":"additional","affiliation":[{"name":"Neurocenter, Luzerner Kantonsspital, 6000 Luzern, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tobias","family":"Nef","sequence":"additional","affiliation":[{"name":"Gerontechnology and Rehabilitation Group, ARTORG Center for Biomedical Engineering Research, University of Bern, 3008 Bern, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Paul","family":"Krack","sequence":"additional","affiliation":[{"name":"Department of Neurology, Center for Parkinson\u2019s Disease and Movement Disorders, Inselspital, Bern University Hospital, University of Bern, 3008 Bern, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tim","family":"Vanbellingen","sequence":"additional","affiliation":[{"name":"Gerontechnology and Rehabilitation Group, ARTORG Center for Biomedical Engineering Research, University of Bern, 3008 Bern, Switzerland"},{"name":"Neurocenter, Luzerner Kantonsspital, 6000 Luzern, Switzerland"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2023,2,1]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"103584","DOI":"10.1016\/j.jbi.2020.103584","article-title":"Application of AR and VR in hand rehabilitation: A systematic review","volume":"111","author":"Pereira","year":"2020","journal-title":"J. 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