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Grounded haptic devices can provide a variety of forces but have limitedworking volumes. Wearable haptic devices operate over a large volume but arerelatively restricted in the types of stimuli they can generate. We propose theconcept of docking haptics, in which different types of haptic devices aredynamically docked at run time. This creates a hybrid system, where thepotential feedback depends on the user's location. We show a prototype dockinghaptic workspace, combining a grounded six degree-of-freedom force feedback armwith a hand exoskeleton. We are able to create the sensation of weight on thehand when it is within reach of the grounded device, but away from the groundeddevice, hand-referenced force feedback is still available. A user studydemonstrates that users can successfully discriminate weight when using dockinghaptics, but not with the exoskeleton alone. Such hybrid systems would be ableto change configuration further, for example docking two grounded devices to ahand in order to deliver twice the force, or extend the working volume. Wesuggest that the docking haptics concept can thus extend the practical utilityof haptics in user interfaces.

Docking Haptics: Extending the Reach of Haptics by Dynamic Combinations of Grounded and Worn Devices