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We introduce UltraBots, a system that combines ultrasound haptic feedback androbotic actuation for large-area mid-air haptics for VR. Ultrasound haptics canprovide precise mid-air haptic feedback and versatile shape rendering, but theinteraction area is often limited by the small size of the ultrasound devices,restricting the possible interactions for VR. To address this problem, thispaper introduces a novel approach that combines robotic actuation withultrasound haptics. More specifically, we will attach ultrasound transducerarrays to tabletop mobile robots or robotic arms for scalable, extendable, andtranslatable interaction areas. We plan to use Sony Toio robots for 2Dtranslation and/or commercially available robotic arms for 3D translation.Using robotic actuation and hand tracking measured by a VR HMD (e.g., OculusQuest), our system can keep the ultrasound transducers underneath the user'shands to provide on-demand haptics. We demonstrate applications with workspaceenvironments, medical training, education and entertainment.

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