A. Tadesse & E.L. Secco, p. 1, 2016. © Springer-Verlag Berlin Heidelberg 2011 Integrated Wireless and Wearable Haptic System for Virtual Interaction Andualem Tadesse Maereg 1 & Emanuele Lindo Secco 1 1 Robotics Laboratory, Department of Mathematics & Computer Science, Liverpool Hope Uni- versity, Hope Park, Liverpool, UK 15010333@hope.ac.uk, seccoe@hope.ac.uk Abstract. This demonstration introduces a simple, cost effective approach which provides wireless and wearable haptic feedback for the interaction in a custom- ized Virtual environments. The setup consists of 5 vibro-tactile ERM actuators, providing multi-finger haptic sensation, and a Virtual Reality environment, tai- lored in Unity 3D, which is combined with Oculus Rift Head Mounted Display and Leap Motion controller. The Head Mounted Display allows the user to be immersed within the virtual environment, while Leap Motion integration with Oculus Rift make the user able to naturally interact with the objects within the virtual environment by his/her hands motion. Interaction with the virtual objects and sense of immersion are enhanced by returning real-time touch feedback on user fingertips. Touching sensation will be modulated through 5 different vibra- tion based on virtual dynamics occurring between the immersed hands of the user and the interacting objects, namely the Virtual impact forces and collision im- pulses. The overall haptic architecture (i.e. 5 ERM actuators and controllers, pro- cessing and communication module, power unit) consists of a wearable unit, which is embedded on the right wrist of the user. Real-time data processing and communication is performed through wireless IEEE 802.15 communication pro- tocol. Keywords: Virtual Reality  Virtual Dynamics  Oculus Rift  Leap Motion  Vibro-tactile Haptics Wearable 1 Introduction Virtual Reality (VR) technology is incredibly growing and making experiences more immersive throughout sensory information that make the user feeling “inside” the vir- tual environment. Different sensorial channels, such as the visual, auditory and tactile ones, can be stimulated for this purpose [1]. To attain real time interaction, VR systems must also be able to manipulate inputs from the real world and continuously and natu- rally feedback those stimulus within the VR environment. Human sense of touch is a combination of various different receptors, which can easily recognize texture, geometry, hardness, temperature and weight of the objects. Sense of touch, in a kinesthetic and cutaneous feedback, is a fusion of all these sensa- tions, which makes it hard to achieve a full touch simulation using haptic devices [2]. Vibrotactile haptic cues have been broadly used in this context for different applica- tions. Here, we explore different modulation technique of vibrotactile cues in order to increase immersion of the user in a customized VR environment [3, 4]: amplitude, fre- quency modulation and scaling based on the impact force during interaction with virtual objects will be experimented, based on the dynamics occurring between the immersed