RF Free Ultrasonic Positioning
ISWC '03 Proceedings of the 7th IEEE International Symposium on Wearable Computers
Bridging the physical and digital in pervasive gaming
Communications of the ACM - The disappearing computer
Haptic shoes: representing information by vibration
APVis '05 proceedings of the 2005 Asia-Pacific symposium on Information visualisation - Volume 45
A role for haptics in mobile interaction: initial design using a handheld tactile display prototype
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
Portable Haptic Display for Large Immersive Virtual Environments
VR '06 Proceedings of the IEEE conference on Virtual Reality
Using actuated devices in location-aware systems
Proceedings of the 2nd international conference on Tangible and embedded interaction
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We describe a prototype mobile force-only feedback system called `Limbot' constructed by placing a six degree-of-freedom force feedback system onto a two degree-of-freedom motorised platform. Existing mobile force-feedback platforms are typically designed to expand the virtual haptic workspace and support exploration of large haptic objects in the style of traditional Virtual Reality (VR) interfaces. Systems which focus on the VR paradigm typically preclude navigation of real environments because attention is primarily directed at the graphical display. In contrast, our device is unconstrained and designed for force-only explorations of real wide-area environments, for example as part of a location-based pervasive game. In order to achieve such wide-area exploration and navigation, our platform allows the user to couple and decouple the force feedback encoders to control the platform's wheels. The device's encoders switch between 'traditional' virtual exploration of a haptic object and as a real navigation controller for the base platform motors. Initial testing of our prototype highlights (i) that our positioning and mobility approaches require that we consider haptic perspective more closely; (ii) that the necessary speed and control of repositioning requires easily backdrivable base motors; and (iii) that our mobile force feedback experience is an unavoidably social experience in the real world, inspiring quick movements between haptic and robotic modes of operation.