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Mid-air haptics create a new mode of feedback to allow people to feel tactilesensations in the air. Ultrasonic arrays focus acoustic radiation pressure inspace, to induce tactile sensation from the resulting skin deflection. In thiswork, we present a low-cost tactile robot to test mid-air haptics. By combininga desktop robot arm with a 3D-printed biomimetic tactile sensor, we developed asystem that can sense, map, and visualize mid-air haptic sensations created byan ultrasonic transducer array. We evaluate our tactile robot by testing it ona variety of mid-air haptic stimuli, including unmodulated and modulated focalpoints that create a range of haptic shapes. We compare the mapping of thestimuli to another method used to test mid-air haptics: Laser DopplerVibrometry, highlighting the advantages of the tactile robot including farlower cost, a small lightweight form-factor, and ease-of-use. Overall, thesefindings indicate our method has multiple benefits for sensing mid-air hapticsand opens up new possibilities for expanding the testing to better emulatehuman haptic perception.

Mapping Mid-air Haptics with a Low-cost Tactile Robot