HapticBots: Distributed Encountered-type Haptics for VR with Multiple Shape-changing Mobile Robots

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HapticBots builds a swarm of tabletop shape-changing robots that move and extend metal-tape reels to render on-demand touch points and continuous surfaces in VR; hardware uses stronger DC motors and off-the-shelf mobile robots Sony Tony to control many agents across a tabletop. The system supports tiltable surfaces up to 60 degrees, multiple concurrent touch points, and a user study showing better continuous-surface perception than a static shape display.

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