PantographHaptics: A Technique for Large-Surface Passive Haptic Interactions using Pantograph Mechanisms

In Virtual Reality (VR), existing hand-scale passive interaction techniques are unsuitable for continuous large-scale renders: room-scale proxies lack portability, and wearable robotic arms are energy-intensive and induce friction. This paper presents a technique for providing wall haptics in VR which supports portable, passive, and large-scale user interactions. We propose a potential solution, PantographHaptics, a technique which uses the scaling properties of a pantograph to passively render two-degree-of-freedom body-scale surfaces to overcome the limitations present in existing methods. We demonstrate PantographHaptics through two prototypes: HapticLever, a grounded system, and Feedbackpack, a wearable device. We evaluate these prototypes with technical and user evaluations. Our 9-participant first study compares HapticLever against traditional haptic modalities, while our 7-participant second study verifies Feedbackpack's usability and interaction fidelity.