Hi, I’m Jacob Hernandez, a student researcher at the FAMU-FSU College of Engineering. This summer, I worked with Danielle Carr, Dr. Xiang Zhang, and Dr. Carl Moore on miniaturizing a finger-based haptic device to improve tactile feedback in virtual environments. We designed a compact system using a friction-based planetary gearset, an embedded DC motor, and a preload adjustment mechanism to enhance force control and reduce backlash. Our analysis included gear ratios, force modeling, and kinematic evaluation, resulting in a preload force of about 0.82 lbf and a max angular travel of 3.06°. Next, we plan to build a prototype with position sensing and explore alternative power transmission designs for better performance and user experience