+Walk: A Proof-of-Concept System for Exploratory Walking

We propose +Walk, a concept that uses spare time before reaching a destination as an opportunity for exploratory walking under arrive-by constraints. To realize this concept, we built the +Walk system, a proof-of-concept implementation that combines time-budgeted routing with handheld pseudo-force haptic guidance. The routing method supports small detours while keeping arrival close to the planned time, and the haptic device provides turn-by-turn cues through pseudo-force sensations. In an outdoor evaluation, haptic guidance reduced phone-focused gaze and increased enjoyment and awareness of surroundings, while screen-based navigation was easier to interpret, felt more reliable, and produced fewer navigation errors. In a proof-of-concept field validation, participants arrived within user-acceptable tolerances and preferred +Walk in situations with spare time and low time pressure. These findings suggest that +Walk can support exploratory walking as a meaningful, context-dependent walking segment within multimodal mobility.