Virtual and augmented reality headsets are making significant progress in audio-visual immersion and consumer adoption. However, their haptic immersion remains low, due in part to the limitations of vibrotactile actuators which dominate the AR/VR market. In this work, we present a new approach to create high-resolution shape-changing fingerpad arrays with 20 haptic pixels/cm2. Unlike prior pneumatic approaches, our actuators are low-profile (5mm thick), low-power (approximately 10mW/pixel), and entirely self-contained, with no tubing or wires running to external infrastructure. We show how multiple actuator arrays can be built into a five-finger, 160-actuator haptic glove that is untethered, lightweight (207g, including all drive electronics and battery), and has the potential to reach consumer price points at volume production. We describe the results from a technical performance evaluation and a suite of eight user studies, quantifying the diverse capabilities of our system. This includes recognition of object properties such as complex contact geometry, texture, and compliance, as well as expressive spatiotemporal effects.

With the ubiquity of wearable computing, an important and emerging challenge is to understand how to design wearable information displays for non-visual, non-auditory interaction. This is particularly relevant to the design of accessible technologies for people with vision impairments. Working towards this aim, we developed a smartwatch prototype that uses variable friction surface haptics to test initial design concepts. Through interviews and iterative prototyping with seven blind users, we identified three key use cases for a haptic smartwatch as well as embodied conceptual models for presenting haptic information. We found that a physical clock face, compass, and numerical keypad are productive representations for presenting information haptically, and these models build on existing tactile and spatial understandings of our target user group.

The TPad Tablet combines an Android tablet with a variable friction haptic touch-screen and offers many novel interaction possibilities. For example, unique textures may be associated with different user interface elements, such as text boxes and buttons. This paper presents an Android AccessibilityService that was created to give operating system-wide (OS) access to haptic effects. Prior to this work, the haptic feedback of the TPad could be controlled only from within specific applications. With the new implementation, all applications and primary user interfaces (e.g. home screen) will have access to the TPad. Rather than focus on specific elements or applications, we seek to provide a high fidelity haptic experience that elevates the TPad's accessibility to the standard of Talkback and Voiceover, Android's and Apple's accessibility programs respectively. The code for the application is available on our website.

This paper explores the use of variable friction surface haptics enabled by the TPad Tablet to support affective communication between pairs of users. We introduce three haptic applications for the TPad Tablet (text messaging, image sharing, and virtual touch) and evaluate the applications with 24 users, including intimate couples and strangers. Participants used haptics to communicate literal texture, denote action within a scene, convey emotional information, highlight content, express and engage in physical playfulness, and to provide one's partner with an experience or sensation. We conclude that users readily associate haptics with emotional expression and that the intimacy of touch in the contexts we study is best suited for communications with close social partners.