Museums are institutions that primarily care for cultural heritage exhibition, preservation and conservation of historical artifacts. However, simply displaying artifacts and provide complex information to describe them is simply not sufficient to effectively engage museum visitors. To improve visitors engagement and their overall museum experience, the use of technology utilized by museums, introducing the concept of Virtual Museums. This paper discusses the use of Virtual Reality through the use of smart phone devices as a mean of a Cyber-Physical-Social system to support, improve and enhance the visitors' experience. The RoboSHU prototype, its current development stage and future work are presented, together with the future research directions of the research team.