This article presents a haptic feedback system combining a flexible electromagnetic actuator with off-the-shelf components and virtual/augmented reality (VR/AR) platform to interact with the skin. The system translates targeted VR signals into localized, real-time vibrations on the forearm. Existing actuator technologies struggle to balance flexibility, scalability, and control over displacement and resonance frequency ranges, limiting their suitability for wearable systems. Moreover, research-oriented devices are highly specialized and costly, making them difficult to reproduce at a large scale. To address these challenges, we propose an actuator design framework with a tunable model that enables control over displacement and resonance frequency. Using this model, we develop a scalable actuator (12 × 12 × 3.6mm3) in a 6 × 4 array, leveraging commercial coils, mounted on a wearable sleeve. The device delivers displacements up to 15.8 μm at a resonance frequency of 220 Hz, aligning with the sensitivity of Pacinian corpuscles for high-frequency vibrotactile feedback. To validate its performance, we implement a VR/AR case study using a Meta Quest 2 system to simulate a haptic laser pointer named “Haptix World”. Our key contributions include: (i) tractable actuator design model, (ii) high-displacement flexible electromagnetic actuator, and (iii) complete human–machine interface pipeline that bridges VR interactions with physical haptics.
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