@article{villa2022extended,
	title = {Extended Mid-air Ultrasound Haptics for Virtual Reality},
	author = {Steeven Villa and Sven Mayer and Jess Hartcher-O'Brien and Albrecht Schmidt and Tonja-Katrin Machulla},
	year = {2022},
	journal = {Proc. ACM Hum.-Comput. Interact.},
	doi = {10.1145/3567731},
	url = {https://sven-mayer.com/wp-content/uploads/2022/10/villa2022extended.pdf},
	date = {2022-11-20},
	abstract = {Mid-air haptics allow bare-hand tactile stimulation; however, it has a constrained workspace, making it unsuitable for room-scale haptics. We present a novel approach to rendering mid-air haptic sensations in a large rendering volume by turning a static array into a dynamic array following the user's hand. We used a 6DOF robot to drive a haptic ultrasound array over a large 3D space. Our system enables rendering room-scale mid-air experiences while preserving bare-hand interaction, thus, providing tangibility for virtual environments. To evaluate our approach, we performed three evaluations. First, we performed a technical system evaluation, showcasing the feasibility of such a system. Next, we conducted three psychophysical experiments, showing that the motion does not affect the user's perception with high likelihood. Lastly, we explored seven use cases that showcase our system's potential using a user study. We discuss challenges and opportunities in how large-scale mid-air haptics can contribute toward room-scale haptic feedback. Thus, with our system, we contribute to general haptic mid-air feedback on a large scale.},
	keywords = {cobot, haptic feedback}
}