HexTouch: A Wearable Haptic Robot for Complementary Interactions to Companion Agents in Virtual Reality

We propose a forearm-mounted robot that performs complementary touches in relation to the behaviors of a companion agent in virtual reality (VR). The robot consists of a series of tactors driven by servo motors that render specific tactile patterns to communicate primary emotions (fear, happiness, disgust, anger, and sympathy) and other notification cues. We showcase this through a VR game with physical-virtual agent interactions that facilitate the player-companion relationship and increase user immersion in specific scenarios. The player collaborates with the agent to complete a mission while receiving affective haptic cues with the potential to enhance sociality in the virtual world.