Is modularity the future of haptics in XR? A systematic literature review

Abstract Immersive technologies have seen growing popularity in recent years, with an increasing demand for advanced haptic interfaces to simulate realistic virtual experiences. As this technology has improved, haptic interfaces have been created to offer rich feedback for specific scenarios. However, their versatility is often limited. Modularity in haptics offers adaptability and customization that broadens the range of uses cases that can be provided from a singular device. This systematic review examines state-of-the-art modular haptic devices that offer unique advantages in terms of adaptability and customization. It reviews 35 papers on modular haptics published in scientific journals and conferences over the last decade. The modular systems are categorized by their method of modularity in positioning, construction, attachment, and end-effectors. The review discusses how each paper integrates modularity and provides an overview of its application in haptics. Finally, the review discusses the challenges of integrating modularity in haptic interfaces and based on this identifies potential future directions.