Encounter-Type Haptic Feedback System Using an Acoustically Manipulated Floating Object

This paper proposes a novel encounter-type haptic feedback system for virtual reality (VR) utilizing a balloon that can move around in three dimensional space. By locating a balloon at a position corresponding to that of virtual object, the user wearing a head mounted display feels a contact sensation when his or her hand touches a virtual object. The balloon is remotely actuated by applying acoustic radiation pressure. The users can touch a VR object directly by their hands or via controllers or rods. We constructed a prototype system and conducted a preliminary experiment.