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We introduce Haplets, a wearable, low-encumbrance, finger-worn, wireless haptic device that provides vibrotactile feedback for hand tracking applications in virtual and augmented reality. Haplets are small enough to fit on the back of the fingers and fingernails while leaving the fingertips free for interacting with real-world objects. Through robust physically-simulated hands and low-latency wireless communication, Haplets can render haptic feedback in the form of impacts and textures, anddoi:10.3389/frvir.2021.738613 fatcat:l5k6qw45xvawnboeclpf5ayxia