Virtual Reality (VR) training has gained popularity in
recent years due to its versatility and safety in applications
such as industrial education and rehabilitation. The addition
of haptic information [1] during VR training, e.g., on the
physical properties of a virtual object like mass and inertial
forces, has been shown to enhance motor learning [2] and
increase movement economy and precision [3]. However,
rendering these dynamic forces remains a challenge, par-
ticularly for ungrounded haptic devices. While ungrounded
devices allow for a large free workspace, they often face
limitations such as high cost, latency, and side effects through
noise, vibrations, or airflow [4]. To address these limitations,
we present the first design and evaluation of LeVR, a low-
cost, portable haptic proxy (see Fig. 1). LeVR aims to provide
information about virtual objects’ weight by rendering the
vertical forces experienced when lifting objects. It achieves
this by dynamically accelerating a motorized sled along a
linear rail upon interaction with the virtual object, allowing
users to perceive differences in object weight through a
simple and portable design.