I remember VR on the Amiga and as someone above mentioned, it was done by a company called W-industries in England.
I also remember all the Amiga powered VR pods scattered throughout the country in amusement arcades powered by A3000's.
The game I played on one was a 4 player linked game where you were flying a helicopter. I remember it most because the frame rate wasn't great and I got shot down within about a minute.
If my memory serves me the Trocodera (spelt wrong) in London still has a couple of the unit's working in there last time I visited this year which surprised me.
As for how to get VR working on an Amiga, I'm afraid I have no idea.