UltraBots Large-Area Mid-Air Haptics for VR with Robotically Actuated Ultrasound Transducers

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UltraBots: Large-Area Mid-Air Haptics for VR with Robotically

Actuated Ultrasound Transducers

Mehrad Faridan

University of Calgary

Calgary, Canada

mehrad.faridan1@ucalgary.ca

Marcus Friedel

University of Calgary

Calgary, Canada

marcus.friedel@ucalgary.ca

Ryo Suzuki

University of Calgary

Calgary, Canada

ryo.suzuki@ucalgary.ca

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 specically, 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.

CCS CONCEPTS

•Human-centered computing →Haptic devices

;

Virtual re-

ality.

KEYWORDS

Virtual Reality; Haptics; Ultrasound Transducers; Robotics

ACM Reference Format:

Mehrad Faridan, Marcus Friedel, and Ryo Suzuki. 2022. UltraBots: Large-

Area Mid-Air Haptics for VR with Robotically Actuated Ultrasound Trans-

ducers. In The Adjunct Publication of the 35th Annual ACM Symposium

on User Interface Software and Technology (UIST ’22 Adjunct), October 29-

November 2, 2022, Bend, OR, USA. ACM, New York, NY, USA, 3 pages.

https://doi.org/10.1145/3526114.3561350

1 INTRODUCTION

Haptics in VR can enhance user experience by moving beyond the

sense of vision to enable users to interact using physical channels

and to internalize and understand information via the sense of

touch. HCI research has investigated many types of haptic devices,

including controller-based and wearable haptics. However, these

haptic devices often require special pre-conguration or limited

Permission to make digital or hard copies of part or all of this work for personal or

classroom use is granted without fee provided that copies are not made or distributed

for prot or commercial advantage and that copies bear this notice and the full citation

on the rst page. Copyrights for third-party components of this work must be honored.

For all other uses, contact the owner/author(s).

UIST ’22 Adjunct, October 29-November 2, 2022, Bend, OR, USA

ACM ISBN 978-1-4503-9321-8/22/10.

https://doi.org/10.1145/3526114.3561350

Figure 1: The UltraBots overview: robotic positioning of ul-

trasound transducers for large-area mid-air haptics.

generalizability of shape-rendering. In contrast, ultrasound hap-

tics can address both accessibility and generalizability problems.

For example, Ultraleap’s mid-air haptics device [

] uses ultrasound

transducers for haptic tactile feedback, shape rendering and more.

Mouth Haptics [

] uses ultrasound haptics for mouth based force-

feedback. As we can see, ultrasound-based haptics hold much po-

tential for haptic approaches for the future of VR development.

However, one of the limitations of the current ultrasound haptics

is a limited and xed interaction area. For example, Ultraleap haptics

can only cover a 63cm

48cm

48cm area, which is inherently

limiting due to the size of the ultrasound transducers. Because of

that, the area in which haptic feedback can be rendered is both

small and stationary which limits many types of applications and

interactions for VR. On the other hand, due to the expensive cost

of ultrasound transducers, scaling their size with additional devices

is impractical. For example, the cost of a single Ultraleap Stratos

Inspire/Explore [

] is over 5,000 USD which implies that covering a

2 meter by 2 meter area with ultrasound transducers would cost at

least 20,000 USD. In addition, the devices have a limited rendering

height, limiting their ability to render haptic feedback in a 3D space.

To address this problem, this paper introduces UltraBots, a new

approach for large-area ultrasound haptics leveraging robotic ac-

tuation. The core idea of our approach is to combine ultrasound

haptics with robots such as tabletop mobile robots or robotic arms

arXiv:2210.01357v1 [cs.HC] 4 Oct 2022

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摘要：

UltraBots:Large-AreaMid-AirHapticsforVRwithRoboticallyActuatedUltrasoundTransducersMehradFaridanUniversityofCalgaryCalgary,Canadamehrad.faridan1@ucalgary.caMarcusFriedelUniversityofCalgaryCalgary,Canadamarcus.friedel@ucalgary.caRyoSuzukiUniversityofCalgaryCalgary,Canadaryo.suzuki@ucalgary.caABSTRACT...

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