HapticSerpent: A wearable haptic feedback robot for VR

Mohammed Al-Sada, Keren Jiang, Shubhhankar Ranade, Xinlei Piao, Thomas Höglund, Tatsuo Nakajima

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    16 Citations (Scopus)


    Haptic feedback is an important part of virtual reality (VR), where it can increase the immersion and enjoyment. Within VR, research literature and products are mainly limited to vibrotactile feedback for the torso. We believe that additional types of haptic feedback around other areas of the body could potentially yield interesting VR experiences. Thus, we present HapticSerpent, which is a waist-worn robot capable of various haptic feedback on the torso, neck, face, arms and hands. We present our implementation specifications, followed by an initial evaluation to measure the distinguishability of taps applied to the torso. Also, we surveyed the acceptability of receiving feedback in different locations on the body. Participants noted an overall higher accuracy on the upper and sides of the torso and they generally disfavored haptic feedback in sensitive areas due to potential harm. Lastly, we discuss various research opportunities and challenges and present our future direction.

    Original languageEnglish
    Title of host publicationCHI 2018 - Extended Abstracts of the 2018 CHI Conference on Human Factors in Computing Systems
    Subtitle of host publicationEngage with CHI
    PublisherAssociation for Computing Machinery
    ISBN (Electronic)9781450356206, 9781450356213
    Publication statusPublished - 2018 Apr 20
    Event2018 CHI Conference on Human Factors in Computing Systems, CHI EA 2018 - Montreal, Canada
    Duration: 2018 Apr 212018 Apr 26


    Other2018 CHI Conference on Human Factors in Computing Systems, CHI EA 2018


    • Haptic feedback
    • Robot
    • Tactile feedback
    • Wearable

    ASJC Scopus subject areas

    • Human-Computer Interaction
    • Computer Graphics and Computer-Aided Design
    • Software


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