Abstract

We introduce UltraBots, a system that combines ultrasound haptic feedback and robotic actuation for large-area mid-air haptics for VR. Ultrasound haptics can provide precise mid-air haptic feedback and versatile shape rendering, but the interaction area is often limited by the small size of the ultrasound devices, restricting the possible interactions for VR. To address this problem, this paper introduces a novel approach that combines robotic actuation with ultrasound haptics. More specifically, we will attach ultrasound transducer arrays to tabletop mobile robots or robotic arms for scalable, extendable, and translatable interaction areas. We plan to use Sony Toio robots for 2D translation and/or commercially available robotic arms for 3D translation. Using robotic actuation and hand tracking measured by a VR HMD (ex: Oculus Quest), our system can keep the ultrasound transducers underneath the user’s hands to provide on-demand haptics. We demonstrate applications with workspace environments, medical training, education and entertainment.

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Abstract

We explore the use of cinematic “pre-visualization” (previs) techniques as a rapid ideation and design futuring method for human computer interaction (HCI) research. Previs approaches, which are widely used in animation and film production, use digital design tools to create medium-fidelity videos that capture richer interaction, motion, and context than sketches or static illustrations. When used as a design futuring method, previs can facilitate rapid, iterative discussions that reveal tensions, challenges, and opportunities for new research. We performed eight one-week design futuring sprints, in which individual HCI researchers collaborated with a lead designer to produce concept sketches, storyboards, and videos that examined future applications of their research. From these experiences, we identify recurring themes and challenges and present a One Week Futuring Workbook that other researchers can use to guide their own futuring sprints. We also highlight how variations of our approach could support other speculative design practices.

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Abstract

Dexterous and natural haptic interaction with the environment in Virtual Reality promises a new era of embodied and intuitive computing. But among the remaining challenges stands the difficulty of natural wall interactions. Personal haptic devices for natural wall interaction in virtual reality should be portable and should provide passive, body-scale interactions. However, existing techniques fall short: Room-scale proxies lack portability, wearable robotic arms are energy-intensive and induce friction, and existing hand-scale passive interaction techniques are unsuitable for continuous large-scale renders. In this thesis, we introduce PantographHaptics, a technique which uses the scaling properties of a pantograph to passively render body-scale surfaces. A pantograph is a classical linkage mechanism which can enlarge or shrink designs by coordinating nodes to move in scaled, geometrically similar paths. To our knowledge, no prior work has applied the pantograph mechanism to large-scale immersive haptics. PantographHaptics is a novel method for passively achieving body-scale haptics which uses a pantograph to scale up a small positional constraint into an encounterable midair render. We present the conceptual foundation underpinning of PantographHaptics by describing the operation of the pantograph mechanism and detailing how we apply it for haptics. Then we verify the PantographHaptics technique through two prototypes: HapticLever, a grounded system, and Feedbackpack, a wearable device. We detail the designs, implementations, and technical evaluations of both prototypes, and we highlight the challenges and solutions involved in their development. We evaluate these prototypes with user evaluations, which contribute assessments of their interaction fidelity, investigations of their usability, comparisons of their performance against other haptic modalities, and recorded participant experiences of using the devices. By introducing and verifying PantographHaptics, we show that this novel technique is a viable and promising approach for interactions with large surfaces. By documenting the development of our prototype artifacts and reporting user experiences with the devices, we contribute a foundation for future research.

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