The perception of texture, object size and angularity by touch in virtual environments with two haptic devices

The incorporation of the sense of touch (haptic sense) into virtual reality (VR) has considerable potential to enhance the realism of virtual environments and make VR accessible to blind people. This paper summarises a series of investigations into the haptic perception of texture and object size/angularity in VR, with two haptic devices. Guidelines for the creation of haptic environments for blind and sighted individuals are also presented