EncounteredLimbs

We present a novel, wearable approach to presenting a user with encountered-type haptic feedback. We realize this feedback using a wearable robotic limb that holds a plate where the user might interact with their environment. By making the feedback system wearable, we enable the presentation of stiff feedback while maintaining the spatial freedom and unbounded workspace of natural hand interaction. A technical evaluation showed that the system provides a stiffness over 25 N/m and slant angle errors under 3°.

Publications

• A. Horie, M. Y. Saraiji, Z. Kashino and M. Inami, "EncounteredLimbs: A Room-scale Encountered-type Haptic Presentation using Wearable Robotic Arms," 2021 IEEE VR, pp. 260-269.