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    We developed HaptoFloater, a novel visuo-haptic augmented reality system. It uses imperceptible color vibrations to deliver tactile feedback for mid-air images with minimal latency.

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    Area of Science:

    • Human-Computer Interaction
    • Augmented Reality
    • Haptics

    Background:

    • Mid-air augmented reality (AR) systems require synchronized visual and tactile feedback.
    • Conventional methods for tactile feedback in mid-air AR suffer from latency due to image processing and communication.

    Purpose of the Study:

    • To propose and evaluate HaptoFloater, a low-latency mid-air visuo-haptic augmented reality (VHAR) system.
    • To investigate the impact of imperceptible color vibrations on perceived latency in VHAR.

    Main Methods:

    • Developed a VHAR system embedding imperceptible color vibrations (≥25 Hz) into mid-air images.
    • Utilized a micromirror array plate for image generation and a fingertip-mounted photodiode for direct color vibration detection.
    • Evaluated visual-haptic delay tolerance using the HaptoFloater system and a faster single-pattern tactile actuator.

    Main Results:

    • HaptoFloater achieves tactile perception of multiple patterns on mid-air images within 59.5 ms.
    • User studies revealed a visual-haptic delay tolerance of 110.6 ms for the proposed system.
    • This tolerance is significantly greater than latencies in systems using multiple tactile patterns.

    Conclusions:

    • Imperceptible color vibrations offer an effective method for reducing latency in mid-air VHAR systems.
    • HaptoFloater demonstrates a substantial improvement in user experience by minimizing perceived visual-haptic delay.
    • The findings suggest new possibilities for more immersive and responsive mid-air AR applications.