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ACM Hum.-Comput. Interact."],"published-print":{"date-parts":[[2022,11,14]]},"abstract":"<jats:p>Mid-air haptics allow bare-hand tactile stimulation; however, it has a constrained workspace, making it unsuitable for room-scale haptics. We present a novel approach to rendering mid-air haptic sensations in a large rendering volume by turning a static array into a dynamic array following the user's hand. We used a 6DOF robot to drive a haptic ultrasound array over a large 3D space. Our system enables rendering room-scale mid-air experiences while preserving bare-hand interaction, thus, providing tangibility for virtual environments. To evaluate our approach, we performed three evaluations. First, we performed a technical system evaluation, showcasing the feasibility of such a system. Next, we conducted three psychophysical experiments, showing that the motion does not affect the user's perception with high likelihood. Lastly, we explored seven use cases that showcase our system's potential using a user study. We discuss challenges and opportunities in how large-scale mid-air haptics can contribute toward room-scale haptic feedback. Thus, with our system, we contribute to general haptic mid-air feedback on a large scale.<\/jats:p>","DOI":"10.1145\/3567731","type":"journal-article","created":{"date-parts":[[2022,11,14]],"date-time":"2022-11-14T21:31:51Z","timestamp":1668461511000},"page":"500-524","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":15,"title":["Extended Mid-air Ultrasound Haptics for Virtual Reality"],"prefix":"10.1145","volume":"6","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-4881-1350","authenticated-orcid":false,"given":"Steeven","family":"Villa","sequence":"first","affiliation":[{"name":"LMU Munich, Munich, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5462-8782","authenticated-orcid":false,"given":"Sven","family":"Mayer","sequence":"additional","affiliation":[{"name":"LMU Munich, Munich, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2760-0482","authenticated-orcid":false,"given":"Jess","family":"Hartcher-O'Brien","sequence":"additional","affiliation":[{"name":"Delft University of Technology, Delft, Netherlands"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3890-1990","authenticated-orcid":false,"given":"Albrecht","family":"Schmidt","sequence":"additional","affiliation":[{"name":"LMU Munich, Munich, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9518-4364","authenticated-orcid":false,"given":"Tonja-Katrin","family":"Machulla","sequence":"additional","affiliation":[{"name":"TU Chemnitz, Chemnitz, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2022,11,14]]},"reference":[{"key":"e_1_2_2_1_1","doi-asserted-by":"publisher","DOI":"10.1007\/s00464-018-6405-8"},{"key":"e_1_2_2_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8460891"},{"key":"e_1_2_2_3_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC49131.2021.9517193"},{"key":"e_1_2_2_4_1","doi-asserted-by":"publisher","DOI":"10.1145\/3489849.3489855"},{"key":"e_1_2_2_5_1","doi-asserted-by":"publisher","DOI":"10.1109\/WHC.2019.8816137"},{"key":"e_1_2_2_6_1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-030-25965-5_10"},{"key":"e_1_2_2_7_1","doi-asserted-by":"publisher","DOI":"10.1145\/2501988.2502018"},{"key":"e_1_2_2_8_1","doi-asserted-by":"publisher","DOI":"10.1080\/17434440.2018.1484727"},{"key":"e_1_2_2_9_1","doi-asserted-by":"publisher","DOI":"10.1145\/3173574.3174228"},{"key":"e_1_2_2_10_1","doi-asserted-by":"publisher","DOI":"10.1152\/jn.00313.2020"},{"key":"e_1_2_2_11_1","volume-title":"Bishop","author":"Dorf Richard C.","year":"2011","unstructured":"Richard C. 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