We explore how humanoid robots can be repurposed as haptic media, extending beyond their conventional role as social, assistive, collaborative agents. To illustrate this approach, we implemented HumanoidTurk, taking a first step toward a humanoid-based haptic system that translates in-game g-force signals into synchronized motion feedback in VR driving. A pilot study involving six participants compared two synthesis methods, leading us to adopt a filter-based approach for smoother and more realistic feedback. A subsequent study with sixteen participants evaluated four conditions: no-feedback, controller, humanoid+controller, and human+controller. Results showed that humanoid feedback enhanced immersion, realism, and enjoyment, while introducing moderate costs in terms of comfort and simulation sickness. Interviews further highlighted the robot's consistency and predictability in contrast to the adaptability of human feedback. From these findings, we identify fidelity, adaptability, and versatility as emerging themes, positioning humanoids as a distinct haptic modality for immersive VR.

翻译：本文探讨了如何将人形机器人重新定位为触觉媒介，超越其作为社交、辅助、协作代理的传统角色。为阐明这一方法，我们实现了HumanoidTurk系统，初步构建了一个基于人形机器人的触觉系统，能够将游戏中的重力加速度信号转换为VR驾驶中同步的运动反馈。一项包含六名参与者的初步研究比较了两种合成方法，促使我们采用基于滤波器的方案以实现更平滑、更真实的反馈。随后一项包含十六名参与者的研究评估了四种条件：无反馈、控制器反馈、人形机器人+控制器反馈以及真人+控制器反馈。结果表明，人形机器人反馈增强了沉浸感、真实性和娱乐性，同时在舒适度和模拟眩晕方面带来了适度代价。访谈进一步凸显了机器人反馈的一致性和可预测性，这与人类反馈的适应性形成对比。基于这些发现，我们提炼出保真度、适应性和通用性三个新兴主题，从而将人形机器人定位为沉浸式VR中一种独特的触觉模态。