RoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm Robots

Ryo Suzuki , Hooman Hedayati , Clement Zheng , James Bohn , Daniel Szafir , Ellen Yi-Luen Do , Mark D Gross , Daniel Leithinger



RoomShift is a room-scale dynamic haptic environment for virtual reality, using a small swarm of robots that can move furniture. RoomShift consists of nine shape-changing robots: Roombas with mechanical scissor lifts. These robots drive beneath a piece of furniture to lift, move and place it. By augmenting virtual scenes with physical objects, users can sit on, lean against, place and otherwise interact with furniture with their whole body; just as in the real world. When the virtual scene changes or users navigate within it, the swarm of robots dynamically reconfigures the physical environment to match the virtual content. We describe the hardware and software implementation, applications in virtual tours and architectural design and interaction techniques.

Keywords:  Virtual RealityRoom Scale HapticsHaptic InterfacesSwarm Robots


Ryo Suzuki, Hooman Hedayati, Clement Zheng, James Bohn, Daniel Szafir, Ellen Yi-Luen Do, Mark D Gross, Daniel LeithingerRoomShift: Room-scale Dynamic Haptics for VR with Furniture-moving Swarm RobotsIn Proceedings of the CHI Conference on Human Factors in Computing Systems (CHI '20)ACM, New York, NY, USA  Page: 1-11.  DOI: