In augmented reality (AR), where digital content is overlaid onto the real world, realistic thermal feedback has been shown to enhance immersion. Yet current thermal feedback devices, heavily influenced by the needs of virtual reality, often hinder physical interactions and are ineffective for immersion in AR. To bridge this gap, we have identified three design considerations relevant for AR thermal feedback: indirect feedback to maintain dexterity, thermal passthrough to preserve real-world temperature perception, and spatiotemporal rendering for dynamic sensations. We then created a unique and innovative thermal feedback device that satisfies these criteria. Human subject experiments assessing perceptual sensitivity, object temperature matching, spatial pattern recognition, and moving thermal stimuli demonstrated the impact of our design, enabling realistic temperature discrimination, virtual object perception, and enhanced immersion. These findings demonstrate that carefully designed thermal feedback systems can bridge the sensory gap between physical and virtual interactions, enhancing AR realism and usability.

Robots can support humans in tedious tasks, as well as provide social support. However, the decision-making and behavior of robots is not always clear to the human interaction partner. In this work, we discuss the opportunity of using thermal feedback as an additional modality to create transparent interactions. We then present scenarios where thermal feedback is incorporated into the interaction e.g. to unobtrusively communicate the behavior of the robot. We highlight the limitations and challenges of temperature-based feedback, which can be explored in future research.