When Fingers Become Tools: Rendering Virtual Tool Inertia with a Finger-Mounted Extending Rod

Abstract

We present the Finger-Mounted Extending Rod, a wearable device that transforms fingers into virtual tools by modulating fingertip mass distribution. We employ linear actuators on fingers that extend or retract metal rods according to their poses, generating rotational inertia while redirecting the hand to natural grip postures. Through three user studies, we evaluate (1) finger pose embodiment under visual redirection and tool matching via inertia tensor similarity, (2) perception of tool length and rotational inertia, and (3) VR tool interaction experience. Results show that 10 of 15 finger poses maintained embodiment, exhibiting inertia tensor similarities of 0.936-0.991 with their matched tools and yielding perceived inertia amplifications of 4.19-10.45×; moreover, aligning inertia tensors to virtual tools enhanced immersion, realism, and enjoyment compared to misaligned or no-device conditions across six VR scenarios. We conclude by discussing how the system renders virtual tools through the fingers and enhances their perception with inertia modulation. © 2026 Copyright held by the owner/author(s).