HapticSerpent: A wearable haptic feedback robot for VR

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.