X-Rings: A Hand-mounted 360 Degree Shape Display for Grasping in Virtual Reality

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" summary

A hand-mounted stack of motor-driven expandable rings physically renders radially symmetric, graspable surfaces using 5.7–7.7 cm rings with up to 15 N per ring, capacitive touch and motor-current sensing, and a Vive tracker for spatial registration. Rings change diameter in under 100 ms and support deformable/breakable responses. A user study shows shape identification at 80% with 2 cm dynamic range versus 54% at 1 cm, highlighting limits of radial symmetry and range.

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