Hand-worn haptic systems must be able to produce high-quality haptics while also being lightweight and energy-efficient. In order to meet market expectations, research is being done into novel drivetrains that may be implemented in hand worn devices. This is being pushed forward by the growing demand in the virtual reality sector, which is placing pressure on the development of new wearable force feedback technology. In order to validate a proof of concept, this thesis proposes a novel force feedback drivetrain with a dual actuator setup-a motor and a brake—that is integrated into a tabletop prototype. Using both a motor and a brake will reduce weight and improve the haptic rendering quality relative to each component when considered separately. To evaluate the presumptive advantages, a theoretical analysis into the suggested hybrid actuation solution is conducted. The analysis comprises of numerous simulations using a model of the hybrid drivetrain's working principle. Additionally, the analysis is employed to investigate and spot any early-stage defects or undesirable behavior. Consequently, a 3D model was created in order to 3D print a functioning prototype in order to apply the theory in a physical version. The prototype is initially used to validate the simulation model and enforce the findings of the theoretical analysis. Force data is measured when using the prototype and in turn is fed into the simulation model to assess whether the output behaviour is consistent with the prototype. Both the model's competence and the prototype's predictability are assessed using the outcomes. Finally, an experiment is conducted to both asses the mechanical performance and predictability as well as the participant's perception; 2 virtual environments and 3 actuation modes (motor, brake, and hybrid) were cross-examined and each repeated 6 times, for a total of 36 trials. This experiment ultimately assesses the prototypes validity and determines whether the theoretically assumed benefits are present in the prototype as well. Finally, the participant completes a questionnaire in the form of a 5-point Likert scale to determine if the experiment data complies with the users experience. The theoretical analysis revealed both reliable behavior and potential problems, such as oscillations in feedback force due to rapid switching between actuator activity. However, the cause of this behaviour was identified and anticipated to be less pronounced during use of the prototype. The prototype was successfully designed and produced, and a comparison to the model revealed consistent findings and, thus, predictable behavior. However, the model occasionally miscalculated the velocity. The experiment also shows that the hybrid drivetrain approach is promising and outperforms the state of the art both in mechanical prowess as well as physical fidelity when providing haptic feedback; the motor fails to render rigid objects and the brake cannot render spring-like objects, while the hybrid approach can render both successfully. The thesis demonstrates that additional investigation into the suggested drivetrain is supported, despite some obvious limitations. When compared to equally powerful DC motors, the hybrid technique, as employed in the prototype, is capable of portraying the largest variety of haptics, including hard walls, impacts, and stiffness while potentially conserving weight.