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In the past decades, a variety of haptic devices have been developed tofacilitate high-fidelity human-computer interaction (HCI) in virtual reality(VR). In particular, passive haptic feedback can create a compelling sensationbased on real objects spatially overlapping with their virtual counterparts.However, these approaches require pre-deployment efforts, hindering theirdemocratizing use in practice. We propose the Tracking Calibrated Robot (TCR),a novel and general haptic approach to free developers from deployment efforts,which can be potentially deployed in any scenario. Specifically, we augment theVR with a collaborative robot that renders haptic contact in the real worldwhile the user touches a virtual object in the virtual world. The distancebetween the user's finger and the robot end-effector is controlled over time.The distance starts to smoothly reduce to zero when the user intends to touchthe virtual object. A mock user study tested users' perception of three virtualobjects, and the result shows that TCR is effective in terms of conveyingdiscriminative shape information.

Encountered-Type Haptic Display via Tracking Calibrated Robot