"Mars Diver" is an immersive VR simulation project designed to go beyond simple visual observation, offering users the experience of actually standing on the surface of Mars. While traditional VR exhibits in science museums have primarily focused on visual immersion, this project utilizes a custom-developed multi-modal haptic device to allow users to physically feel the Martian environment. Participants engage in a mission to restore power to a Mars base during a sandstorm by removing dust from solar panels. Throughout this process, users experience a highly realistic environment based on NASA's Jezero Crater data, including the sensation of 0.376G gravity, rapid temperature fluctuations felt through space suit gloves, and the physical warmth of solar thermal radiation. By delivering this vivid sense of presence, "Mars Diver" offers science museum visitors both deep educational value and the thrilling excitement of genuine exploration.