  We introduce UltraBots, a system that combines ultrasound haptic feedback and
robotic actuation for large-area mid-air haptics for VR. Ultrasound haptics can
provide precise mid-air haptic feedback and versatile shape rendering, but the
interaction area is often limited by the small size of the ultrasound devices,
restricting the possible interactions for VR. To address this problem, this
paper introduces a novel approach that combines robotic actuation with
ultrasound haptics. More specifically, we will attach ultrasound transducer
arrays to tabletop mobile robots or robotic arms for scalable, extendable, and
translatable interaction areas. We plan to use Sony Toio robots for 2D
translation and/or commercially available robotic arms for 3D translation.
Using robotic actuation and hand tracking measured by a VR HMD (e.g., Oculus
Quest), our system can keep the ultrasound transducers underneath the user's
hands to provide on-demand haptics. We demonstrate applications with workspace
environments, medical training, education and entertainment.
