RedirectedDoors is a visuo-haptic door-opening redirection technique in VR, and it has shown promise in its ability to efficiently compress the physical space required for a room-scale VR experience. However, its previous implementation has only supported laboratory experiments with a single door opening at a fixed location. To significantly expand this technique for room-scale VR, we have developed RedirectedDoors+, a robot-based system that permits consecutive door-opening redirection with haptics. Specifically, our system is mainly achieved with the use of three components: (1) door robots, a small number of wheeled robots equipped with a doorknob-like prop, (2) a robot-positioning algorithm that arbitrarily positions the door robots to provide the user with just-in-time haptic feedback during door opening, and (3) a user-steering algorithm that determines the redirection gain for every instance of door opening to keep the user away from the boundary of the play area. Results of simulated VR exploration in six virtual environments reveal our system's performance relative to user walking speed, paths, and number of door robots, from which we derive its usage guidelines. We then conduct a user study ($N=12$) in which participants experience a walkthrough application using the actual system. The results demonstrate that the system is able to provide haptic feedback while redirecting the user within a limited play area.

中文翻译：

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RedirectedDoors+：房间规模 VR 中的动态触觉开门重定向

RedirectedDoors 是 VR 中的一种视觉触觉开门重定向技术，它在有效压缩房间规模 VR 体验所需的物理空间方面表现出了良好的前景。然而，其之前的实现仅支持在固定位置打开单扇门的实验室实验。为了显着扩展这种房间规模 VR 技术，我们开发了 RedirectedDoors+，这是一种基于机器人的系统，允许通过触觉进行连续开门重定向。具体来说，我们的系统主要通过使用三个组件来实现：（1）门机器人，少数配备有门把手状道具的轮式机器人，（2）机器人定位算法，可以任意定位门机器人以提供在开门过程中为用户提供及时的触觉反馈，以及 (3) 用户引导算法，用于确定每个开门实例的重定向增益，以保持用户远离游戏区域的边界。在六个虚拟环境中模拟 VR 探索的结果揭示了我们的系统相对于用户行走速度、路径和门机器人数量的性能，从中我们得出了其使用指南。然后，我们进行用户研究 ($N=12$)，参与者使用实际系统体验演练应用程序。结果表明，系统能够提供触觉反馈，同时在有限的游戏区域内重定向用户。