PoCoPo: Handheld Pin-based Shape Display for Haptic Rendering in Virtual Reality

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We introduce PoCoPo, the first handheld pin-based shape display that can render various 2.5D shapes in hand in realtime. We designed the display small enough for a user to hold it in hand and carry it around, thereby enhancing the haptic experiences in a virtual environment. PoCoPo has 18 motor-driven pins on both sides of a cuboid, providing the sensation of skin contact on the user's palm and fingers. We conducted two user studies to understand the capability of PoCoPo. The first study showed that the participants were generally successful in distinguishing the shapes rendered by PoCoPo with an average success rate of 88.5%. In the second study, we investigated the acceptable visual size of a virtual object when PoCoPo rendered a physical object of a certain size. The result led to a better understanding of the acceptable differences between the perceptions of visual size and haptic size.