HaptoMapping: Visuo-Haptic Augmented Reality by Embedding User-Imperceptible Tactile Display Control Signals in a Projected Image.

This article proposes HaptoMapping, a projection-based visuo-haptic augmented reality (VHAR) system, that can render visual and haptic content independently and present consistent visuo-haptic sensations on physical surfaces. HaptoMapping controls wearable haptic displays by embedded control signals that are imperceptible to the user in projected images using a pixel-level visible light communication technique. The prototype system is comprised of a high-speed projector and three types of haptic devices-finger worn, stylus, and arm mounted.