Human-centred mechanical sensory perceptions enable us to immerse ourselves in the physical environment by actively touching or holding objects so that we may feel their existence (that is, ownership) and their fundamental properties (for example, stiffness or hardness). In a virtual environment, the replication of these active perceptions can create authentic haptic experiences, serving as an essential supplement for visual and auditory experiences. We present here a first-person, human-triggered haptic device enabled by curved origami that allows humans to actively experience touching of objects with various stiffness perceptions from soft to hard and from positive to negative ranges. This device represents a substantial shift away from the third-person, machine-triggered and passive haptics currently in use. The device is synchronized with the virtual environment by changing its configuration to adapt various interactions by emulating body-centred physical perceptions, including hardness, softness and sensations of crushing and weightlessness. Quantitative evaluations demonstrate that the active haptic device creates a highly immersive virtual environment, outperforming existing vibration-based passive devices. These concepts and resulting technologies create new opportunities and application potential for a more authentic virtual world.

以人为中心的机械感官知觉使我们能够通过主动触摸或握住物体来沉浸在物理环境中，这样我们就可以感受到它们的存在（即所有权）和它们的基本属性（例如，刚度或硬度）。在虚拟环境中，这些主动感知的复制可以创造真实的触觉体验，作为视觉和听觉体验的重要补充。我们在这里展示了一种由弯曲折纸实现的第一人称、人为触发的触觉设备，它允许人类主动体验触摸具有从软到硬、从正到负范围的各种刚度感知的物体。该设备代表了与当前使用的第三人称、机器触发和被动触觉的重大转变。该设备通过改变其配置来与虚拟环境同步，以通过模拟以身体为中心的物理感知来适应各种交互，包括硬度、柔软度以及挤压和失重的感觉。定量评估表明，主动触觉设备创造了一个高度沉浸式的虚拟环境，优于现有的基于振动的被动设备。这些概念和由此产生的技术为更真实的虚拟世界创造了新的机会和应用潜力。优于现有的基于振动的无源设备。这些概念和由此产生的技术为更真实的虚拟世界创造了新的机会和应用潜力。优于现有的基于振动的无源设备。这些概念和由此产生的技术为更真实的虚拟世界创造了新的机会和应用潜力。