We present CoVR, a novel robotic interface providing strong kinesthetic feedback (100 N) in a room-scale VR arena. It consists of a physical column mounted on a 2D Cartesian ceiling robot (XY displacements) with the capacity of (1) resisting to body-scaled users' actions such as pushing or leaning; (2) acting on the users by pulling or transporting them as well as (3) carrying multiple potentially heavy objects (up to 80kg) that users can freely manipulate or make interact with each other. We describe its implementation and define a trajectory generation algorithm based on a novel user intention model to support non-deterministic scenarios, where the users are free to interact with any virtual object of interest with no regards to the scenarios' progress. A technical evaluation and a user study demonstrate the feasibility and usability of CoVR, as well as the relevance of whole-body interactions involving strong forces, such as being pulled through or transported.

中文翻译：

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CoVR：VR 中非确定性场景的大规模力反馈机器人接口

我们展示了 CoVR，这是一种新颖的机器人界面，可在房间规模的 VR 舞台上提供强大的动觉反馈 (100 N)。它由安装在 2D 笛卡尔天花板机器人（XY 位移）上的物理柱组成，具有以下能力：（1）抵抗人体比例的用户动作，例如推动或倾斜；(2) 通过拉动或运输用户以及 (3) 携带多个潜在的重物（最多 80 公斤），用户可以自由操纵或相互交互。我们描述了它的实现并定义了一种基于新用户意图模型的轨迹生成算法，以支持非确定性场景，其中用户可以自由地与任何感兴趣的虚拟对象进行交互，而无需考虑场景的进展。