MAMMOTH: Mid-Air Mesh-based Modulation Optimization Toolkit for Haptics

Mid-air ultrasound can recreate the missing touch from contactless interactions, such as bare hand gestures in extended reality. But designing ultrasound haptics either relies on inadequate static sensations or experts who can create dynamic sensations.We introduce MAMMOTH, an open source toolkit for Unity that automatically generates dynamic ultrasound sensations for interactions with 3D objects. The haptic feedback is achieved by extending and generalizing a path-routing algorithm for intersections between meshes. We first describe how the toolkit works and then demonstrate how it builds on previous techniques. Finally, we present how to use the toolkit to implement three distinct use cases.