HumanoidTurk: Expanding VR Haptics with Humanoids for Driving Simulations

TL;DR

This paper introduces HumanoidTurk, a novel VR haptic system using humanoid robots to provide realistic feedback in driving simulations, enhancing immersion but with some comfort trade-offs.

Contribution

It presents a new approach to VR haptics by repurposing humanoid robots as synchronized feedback devices, demonstrating improved immersion and realism.

Findings

Humanoid feedback increased immersion and realism.

Participants enjoyed the humanoid feedback despite some discomfort.

Humanoids offer a distinct, predictable haptic modality.

Abstract

We explore how humanoid robots can be repurposed as haptic media, extending beyond their conventional role as social, assistive, collaborative agents. To illustrate this approach, we implemented HumanoidTurk, taking a first step toward a humanoid-based haptic system that translates in-game g-force signals into synchronized motion feedback in VR driving. A pilot study involving six participants compared two synthesis methods, leading us to adopt a filter-based approach for smoother and more realistic feedback. A subsequent study with sixteen participants evaluated four conditions: no-feedback, controller, humanoid+controller, and human+controller. Results showed that humanoid feedback enhanced immersion, realism, and enjoyment, while introducing moderate costs in terms of comfort and simulation sickness. Interviews further highlighted the robot's consistency and predictability in contrast to the adaptability of human feedback. From these findings, we identify fidelity, adaptability, and versatility as emerging themes, positioning humanoids as a distinct haptic modality for immersive VR.