Airborne Ultrasound Tactile Display (AUTD) is a midair haptic device that remotely produces tactile sensations on human skin without the user wearing any device. Please see our laboratory homepage for more details on AUTD. This repository contains the client libraries, firmware, and tools to drive AUTD version 3 (AUTD3) devices. This cross-platform SDK supports Windows, macOS, and Linux (including single-board computers such as the Raspberry Pi).

• 日本語/Japanese
• English

This repository is a monorepo. See the README in each subfolder for details.

• Software libraries
  • crates/: Rust client library
  • extras/: Optional crates
    • extras/autd3-rs-emulator/: Emulator
    • extras/autd3-rs-pattern-holo-wgpu/: GPU LinAlgBackend for autd3-rs-pattern-holo
  • bindings/ffi/: C API bindings
  • bindings/python/: Python bindings
  • bindings/csharp/: C# bindings
  • bindings/unity/: Unity bindings
• Firmware
  • firmware/cpu/: CPU firmware
  • firmware/fpga/: FPGA firmware
• Applications
  • simulator/: Sound field simulator
  • console/: GUI console
  • tools/: Auxiliary CLI tools
• examples/: Rust usage examples
• doc/: Documentation site sources

If you use this SDK in your research, please consider including the following citation in your publications:

• S. Suzuki, S. Inoue, M. Fujiwara, Y. Makino, and H. Shinoda, "AUTD3: Scalable Airborne Ultrasound Tactile Display," in IEEE Transactions on Haptics, DOI: 10.1109/TOH.2021.3069976.
• S. Inoue, Y. Makino and H. Shinoda "Scalable Architecture for Airborne Ultrasound Tactile Display," Asia Haptics 2016

This SDK is licensed under the MIT license.

Shun Suzuki, 2026