Build Pressure Haptic Interface

I’m developing a desktop simulation and now need a custom haptic module that can physically press against the user’s hand or fingers whenever the software triggers it. The core requirement is clear: create a standalone piece of hardware whose electronics deliver a controllable pressure / pushing force—not vibration—synchronized to events in my program. What I am after • Mechanical design and component selection for a compact finger- or palm-mounted actuator (servo, linear motor, voice-coil, pneumatic bladder—whichever best meets response speed and force specs we’ll refine together). • Driver electronics and firmware (Arduino, STM32, or similar) capable of receiving real-time commands over USB, Serial, or BLE from the simulation. Latency must stay low enough that the pressure feels immediate. • A simple API or communication protocol so my software can send “apply X-newtons for Y-milliseconds” style commands. The trigger always comes from actions in the computer simulation, never the device itself. • Fully commented schematics, PCB files, parts list, and assembly instructions, plus one working prototype that I can test on my end. Acceptance will depend on: 1. Device consistently producing repeatable pushing force on the hand/fingers. 2. Round-trip command-to-actuation latency meeting the agreed threshold. 3. Documentation thorough enough that I can replicate or scale the build without guesswork. If you have prior work with haptics, force-feedback gloves, or robotics actuators, that experience will be invaluable. I’m ready to refine specs and milestones with you right away.