Design and development of a handheld haptic device for force and stretch feedback in virtual environments

This thesis presents the design and development of a handheld haptic device capable of delivering force feedback to users for grasping and squeezing virtual objects and also stretch feedback for rendering inertial effects in virtual environments. The device utilizes cable-driven mechanisms and is equipped with four force sensors and two DC motors. The design and development process involved evaluating various mechanical and electronic components, selecting the proper ones and assembling them, and conducting user studies to assess the effectiveness of the device in virtual environments.