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We present CoVR, a novel robotic interface providing strong kinestheticfeedback (100 N) in a room-scale VR arena. It consists of a physical columnmounted on a 2D Cartesian ceiling robot (XY displacements) with the capacity of(1) resisting to body-scaled users' actions such as pushing or leaning; (2)acting on the users by pulling or transporting them as well as (3) carryingmultiple potentially heavy objects (up to 80kg) that users can freelymanipulate or make interact with each other. We describe its implementation anddefine a trajectory generation algorithm based on a novel user intention modelto support non-deterministic scenarios, where the users are free to interactwith any virtual object of interest with no regards to the scenarios' progress.A technical evaluation and a user study demonstrate the feasibility andusability of CoVR, as well as the relevance of whole-body interactionsinvolving strong forces, such as being pulled through or transported.

CoVR: A Large-Scale Force-Feedback Robotic Interface for Non-Deterministic Scenarios in VR