论文标题
Ultrabots：具有机器人驱动的超声传感器的VR大区域中空触觉
UltraBots: Large-Area Mid-Air Haptics for VR with Robotically Actuated Ultrasound Transducers
论文作者
论文摘要
我们介绍了Ultrabots，该系统将超声触觉反馈和机器人反馈和机器人驱动相结合，用于VR的大区域中部触觉。超声触觉可以提供精确的空气触觉反馈和多功能形状渲染，但是相互作用区域通常受到超声设备尺寸较小的限制，从而限制了VR的可能相互作用。为了解决这个问题，本文介绍了一种新颖的方法，将机器人驱动与超声触觉结合在一起。更具体地说，我们将将超声传感器阵列连接到桌面移动机器人或机器人臂，以进行可扩展，可扩展和可翻译的交互区域。我们计划使用Sony Toio机器人进行2D翻译和/或市售机器人臂进行3D翻译。使用由VR HMD（例如Oculus Quest）测量的机器人驱动和手部跟踪，我们的系统可以将超声传感器保持在用户手下的超声传感器以提供按需触觉。我们通过工作区环境，医学培训，教育和娱乐活动演示了应用。
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 (e.g., 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.
