Provided are a grip-type haptic device and an insole-type haptic device. The grip-type haptic device comprises: an input device which receives user inputs from a user; a 9-axis sensor which senses the motions of a hand of the user; a vibrator which delivers tactile sensations to the user; a motion sensor which senses whether the user is gripping the grip-type haptic device; a communication module which transmits and receives data between the grip-type haptic device and an extended reality (XR) processing device; and a power supply which supplies power to the grip-type haptic device. The insole-type haptic device comprises: an input device which receives user inputs from the user; a plurality of 9-axis sensors which sense the movements of a foot of the user; a vibrator which delivers tactile sensations to the sole of the user's foot; a plurality of pressure sensors which are uniformly arranged in the insole-type haptic device and sense the pressure being applied at each position to the sole of the user's foot; a communication module for transmitting and receiving data between the insole-type haptic device and an extended reality (XR) processing device; and a power supply which supplies power to the insole-type haptic device.
MULTI-MODAL INTERFACE-BASED HAPTIC DEVICE