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Virtual exhibits with haptic feedback offer greater flexibility in diversifying content and providing digital affordance, even at a lower cost, than physical exhibits. However, few studies addressed the value of such haptics-enabled educational systems in informal learning environments. In this study, we investigated the feasibility of a haptic exhibit as an alternative or supplement for a traditional physical exhibit in a science museum. We developed a two-degree-of-freedom cable-driven haptic device to simulate physical interactions on a large visual display. Choosing a seesaw-like physical exhibit available in a local museum, we designed and implemented a virtual lever simulation closely embodying the physics principles that the physical exhibit showcased. Then, we conducted an observational user study with children to compare the exhibit-visitor interaction behaviors, learning effects, and self-reported motivation and enjoyment between the physical and virtual exhibits. The results revealed that the visitors well-received and engaged with the haptic exhibit, instantiating its potential application in diverse learning settings. We hope that our research encourages further exploration of innovative haptic exhibits that enhance users' learning experiences across various environments.

Full-body haptic suits, which can provide tactile sensations across the entire body, have been gaining popularity recently. The tightness of a suit to the user's body determines the contact force between the tactile actuators and the body. The contact force is likely to alter the intended perceptual effects, but relatively little is known about the extent of the alteration. Under this context, we present the effects of contact force on vibrotactile perceived intensity on three body parts: dorsal hand, upper arm, and lower back. To this end, we conducted three perceptual magnitude estimation experiments while controlling vibration amplitude, frequency, and contact force. The results show that increasing the contact force generally made the vibration stimuli feel stronger, while the specific behaviors were dependent on the body part and the experimental variables. Finally, we summarize the major findings and provide guidelines regarding contact force adjustment for effective full-body haptic rendering.