In the past few years, we have covered plenty of robot based haptic systems that let users feel objects in virtual reality. EncounteredLimbs explores a room-scale encounter-type haptic system using wearable robotic arms. The idea is to enhance physical interaction without needing specialized devices.
As Arata Horie explains:
We realize this feedback using a wearable robotic limb that holds a plate where the user might interact with their environment. An appropriate location for the plate is determined by a novel haptic solver while control of the arm is made possible using motion trackers. The system was designed to be stable, for presenting consistent haptic feedback, while also being safe and lightweight for wearability. By making the feedback system wearable, we enable the presentation of stiff feedback while maintaining the spatial freedom and unbounded workspace of natural hand interaction.