Haptic Illusions

A handheld ESP32-C6 device that synthesizes the feeling of a ball rolling and sliding inside a tube you cannot see, reproducing Yao and Hayward’s 2006 virtual rolling stone. Two haptic output paths: an I2S amplifier driving a TITAN Haptics actuator, and an H-bridge driving a motor directly. Ongoing personal project.

A weekend project that refuses to end: a handheld device that lets you feel a virtual ball rolling and sliding inside a tube you cannot see, based on Yao and Hayward’s 2006 length-perception experiment. Part 1 covers the illusion, the physics, the ESP32-C6 firmware, and the first build that renders the ball as audio through an I2S amplifier and a TITAN Haptics actuator.