  Haptic feedback is an important component of creating an immersive mixed
reality experience. Traditionally, haptic forces are rendered in response to
the user's interactions with the virtual environment. In this work, we explore
the idea of rendering haptic forces in a proactive manner, with the explicit
intention to influence the user's behavior through compelling haptic forces. To
this end, we present a framework for active haptic guidance in mixed reality,
using one or more robotic haptic proxies to influence user behavior and deliver
a safer and more immersive virtual experience. We provide details on common
challenges that need to be overcome when implementing active haptic guidance,
and discuss example applications that show how active haptic guidance can be
used to influence the user's behavior. Finally, we apply active haptic guidance
to a virtual reality navigation problem, and conduct a user study that
demonstrates how active haptic guidance creates a safer and more immersive
experience for users.
