In this paper, we propose a novel interactive system that mutually copies adjacent 3D environments optically and physically. The system realizes mutual user interactions through haptics without wearing any devices. A realistic volumetric image is displayed using a pair of micro-mirror array plates (MMAPs). The MMAP transmissively reflects the rays from an object, and a pair of them reconstructs the floating aerial image of the object. Our system can optically copy adjacent environments based on this technology. Haptic feedback is also given by using an airborne ultrasound tactile display (AUTD). Converged ultrasound can give force feedback in midair. Based on the optical characteristics of the MMAPs, the cloned image and the user share an identical coordinate system. When a user touches the transferred clone image, the system gives force feedback so that the user can feel the mechanical contact and reality of the floating image.

A method to present volumetric haptic objects in the air using spatial modulation of ultrasound is proposed. Previous methods of airborne ultrasonic tactile display were based on vibrotactile radiation pressure and sensor feedback systems, which result in low spatial receptive resolution. The proposed approach produces a spatially standing haptic image using stationary ultrasonic waves that enable users to touch 3D images without depending on vibrotactile stimulation and sensor feedback. The omnidirectional spatial modulated haptic images are generated by a phased array surrounding a workspace, which enables enough power to feel shapes without vibrotactile technique. Compared with previous methods, the proposed method can create a completely silent image without temporal ultrasonic modulation noise that is free of the problems caused by feedback delay and errors. To investigate the active touch profiles of an ultrasonic image, this paper discusses a method to synthesize a haptic holographic image, the evaluation of our algorithm, and the results of pressure measurement and subjective experiments.

We present HaptoMime, a mid-air interaction system that allows users to touch a floating virtual screen with hands-free tactile feedback. Floating images formed by tailored light beams are inherently lacking in tactile feedback. Here we propose a method to superpose hands-free tactile feedback on such a floating image using ultrasound. By tracking a fingertip with an electronically steerable ultrasonic beam, the fingertip encounters a mechanical force consistent with the floating image. We demonstrate and characterize the proposed transmission scheme and discuss promising applications with an emphasis that it helps us 'pantomime' in mid-air.