Haptic devices that provide robust and realistic force feedback are generally grounded to counterweight the applied force, prohibiting their use in mobile devices. Many ungrounded force-feedback devices rely on the gyro effect to produce torques on the human body, but their active control systems render them extremely bulky for implementation in small mobile devices. We present GyroTab, a relatively flat handheld system that utilizes the gyro effect to provide torque feedback. GyroTab relies on the user to produce an input torque and provides feedback by opposing that torque, making its feedback reactive to the user's motion.
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