Sticky Actuator: Free-Form Planar Actuators for Animated Objects

We propose soft planar actuators enhanced by free-form fabrication that are suitable for making everyday objects move. The actuator consists of one or more inflatable pouches with an adhesive back. We have developed a machine for the fabrication of free-from pouches; squares, circles and ribbons are all possible. The deformation of the pouches can provide linear, rotational, and more complicated motion corresponding to the pouch's geometry. We also provide a both manual and programmable control system. In a user study, we organized a hands-on workshop of actuated origami for children. The results show that the combination of the actuator and classic materials can enhance rapid prototyping of animated objects.National Science Foundation (U.S.) (Grant 1240383)National Science Foundation (U.S.) (Grant 1138967

The Roly-Poly Mouse: Designing a Rolling Input Device Unifying 2D and 3D Interaction

International audienceWe present the design and evaluation of the Roly-Poly Mouse (RPM), a rolling input device that combines the advantages of the mouse (position displacement) and of 3D devices (roll and rotation) to unify 2D and 3D interaction. Our first study explores RPM gesture amplitude and stability for different upper shapes (Hemispherical, Convex) and hand postures. 8 roll directions can be performed precisely and their amplitude is larger on Hemispherical RPM. As minor rolls affect translation, we propose a roll correction algorithm to support stable 2D pointing with RPM. We propose the use of compound gestures for 3D pointing and docking, and evaluate them against a commercial 3D device, the SpaceMouse. Our studies reveal that RPM performs 31% faster than the SpaceMouse for 3D pointing and equivalently for 3D rotation. Finally, we present a proof-of-concept integrated RPM prototype along with discussion on the various technical challenges to overcome to build a final integrated version of RPM

PolySurface:a design approach for rapid prototyping of shape-changing displays using semi-solid surfaces

We present a design approach for rapid fabrication of high fidelity interactive shape-changing displays using bespoke semi-solid surfaces. This is achieved by segmenting virtual representations of the given data and mapping it to a dynamic physical polygonal surface. First, we establish the design and fabrication approach for generating semi-solid reconfigurable surfaces. Secondly, we demonstrate the generalizability of this approach by presenting design sessions using datasets provided by experts from a diverse range of domains. Thirdly, we evaluate user engagement with the prototype hardware systems that are built. We learned that all participants, all of whom had no previous interaction with shape-changing displays, were able to successfully design interactive hardware systems that physically represent data specific to their work. Finally, we reflect on the content generated to understand if our approach is effective at representing intended output based on a set of user defined functionality requirements

PolySurface: a design approach for rapid prototyping of shape-changing displays using semi-solid surfaces

We present a design approach for rapid fabrication of high fidelity interactive shape-changing displays using bespoke semi-solid surfaces. This is achieved by segmenting virtual representations of the given data and mapping it to a dynamic physical polygonal surface. First, we establish the design and fabrication approach for generating semi-solid reconfigurable surfaces. Secondly, we demonstrate the generalizability of this approach by presenting design sessions using datasets provided by experts from a diverse range of domains. Thirdly, we evaluate user engagement with the prototype hardware systems that are built. We learned that all participants, all of whom had no previous interaction with shape-changing displays, were able to successfully design interactive hardware systems that physically represent data specific to their work. Finally, we reflect on the content generated to understand if our approach is effective at representing intended output based on a set of user defined functionality requirements

Multi-fingered haptic palpation utilizing granular jamming stiffness feedback actuators

This paper describes a multi-fingered haptic palpation method using stiffness feedback actuators for simulating tissue palpation procedures in traditional and in robot-assisted minimally invasive surgery. Soft tissue stiffness is simulated by changing the stiffness property of the actuator during palpation. For the first time, granular jamming and pneumatic air actuation are combined to realize stiffness modulation. The stiffness feedback actuator is validated by stiffness measurements in indentation tests and through stiffness discrimination based on a user study. According to the indentation test results, the introduction of a pneumatic chamber to granular jamming can amplify the stiffness variation range and reduce hysteresis of the actuator. The advantage of multi-fingered palpation using the proposed actuators is proven by the comparison of the results of the stiffness discrimination performance using two-fingered (sensitivity: 82.2%, specificity: 88.9%, positive predicative value: 80.0%, accuracy: 85.4%, time: 4.84 s) and single-fingered (sensitivity: 76.4%, specificity: 85.7%, positive predicative value: 75.3%, accuracy: 81.8%, time: 7.48 s) stiffness feedback

Analysis and Classification of Shape-Changing Interfaces for Design and Application-based Research

Shape-changing interfaces are physically tangible, interactive devices, surfaces, or spaces that allow for rich, organic, and novel experiences with computational devices. Over the last 15 years, research has produced functional prototypes over many use applications; reviews have identified themes and possible future directions but have not yet looked at possible design or application-based research. Here, we gather this information together to provide a reference for designers and researchers wishing to build upon existing prototyping work, using synthesis and discussion of existing shape-changing interface reviews and comprehensive analysis and classification of 84 shape-changing interfaces. Eight categories of prototype are identified alongside recommendations for the field

Multi-touch Detection and Semantic Response on Non-parametric Rear-projection Surfaces

The ability of human beings to physically touch our surroundings has had a profound impact on our daily lives. Young children learn to explore their world by touch; likewise, many simulation and training applications benefit from natural touch interactivity. As a result, modern interfaces supporting touch input are ubiquitous. Typically, such interfaces are implemented on integrated touch-display surfaces with simple geometry that can be mathematically parameterized, such as planar surfaces and spheres; for more complicated non-parametric surfaces, such parameterizations are not available. In this dissertation, we introduce a method for generalizable optical multi-touch detection and semantic response on uninstrumented non-parametric rear-projection surfaces using an infrared-light-based multi-camera multi-projector platform. In this paradigm, touch input allows users to manipulate complex virtual 3D content that is registered to and displayed on a physical 3D object. Detected touches trigger responses with specific semantic meaning in the context of the virtual content, such as animations or audio responses. The broad problem of touch detection and response can be decomposed into three major components: determining if a touch has occurred, determining where a detected touch has occurred, and determining how to respond to a detected touch. Our fundamental contribution is the design and implementation of a relational lookup table architecture that addresses these challenges through the encoding of coordinate relationships among the cameras, the projectors, the physical surface, and the virtual content. Detecting the presence of touch input primarily involves distinguishing between touches (actual contact events) and hovers (near-contact proximity events). We present and evaluate two algorithms for touch detection and localization utilizing the lookup table architecture. One of the algorithms, a bounded plane sweep, is additionally able to estimate hover-surface distances, which we explore for interactions above surfaces. The proposed method is designed to operate with low latency and to be generalizable. We demonstrate touch-based interactions on several physical parametric and non-parametric surfaces, and we evaluate both system accuracy and the accuracy of typical users in touching desired targets on these surfaces. In a formative human-subject study, we examine how touch interactions are used in the context of healthcare and present an exploratory application of this method in patient simulation. A second study highlights the advantages of touch input on content-matched physical surfaces achieved by the proposed approach, such as decreases in induced cognitive load, increases in system usability, and increases in user touch performance. In this experiment, novice users were nearly as accurate when touching targets on a 3D head-shaped surface as when touching targets on a flat surface, and their self-perception of their accuracy was higher

Metamorphic stretchable electronics

Die jüngsten Fortschritte auf dem Gebiet der Elektronik wenden sich der Realisierung mechanischer dehnbarer Elektroniken zu. Diese sind in der Lage sich umzuwandeln um neue Formfaktoren anzunehmen. Um eine nahtlose Integration der Elektronik in unsere Alltagsgegenstände und viele weitere Anwendungsfelder zu ermöglichen, bei denen herkömmliche starre elektronische Systeme nicht ausreichen, ist mechanische Dehnbarkeit notwendig. Diese Arbeit zielt darauf ab, eine dehnbare Leiterplattentechnologie (sPCB) zu demonstrieren, die mit industriellen Herstellungsprozessen kompatibel ist. Idealerweise soll das starre Trägersubstrat der konventionellen Elektronik durch ein dehnbares Gummisubstrat mit dehnbaren Leiterbahnen ersetzt werden. Zunächst wurde eine Methode entwickelt, um eine industrietaugliche, einlagige, dehnbare Leiterplatte zu realisieren. Der dargestellte Ansatz unterscheidet sich von anderen Methoden in diesem Bereich, welche die Metallisierung auf dem Gummisubstrat aufbringen und die Komponenten anschließend darauf montieren. Dadurch leiden diese unter einer geringeren Ausrichtung und Fixierung. Stattdessen wird im dargestellten Ansatz ein harter Träger verwendet, der den Einsatz des dehnbaren Gummimaterials bis ans Ende der Prozesskette verschiebt. Diese Single-Layer-Methode wurde weiterentwickelt, um mehrschichtige, integrierte sPCB zu realisieren, bei der verschiedene Metallisierungsebenen durch vertikalen Durchkontaktierungen (VIA) miteinander verbunden werden. Auch dieses Verfahren verwendet konventionelle starre Träger für den Herstellungsprozess. Wie in der konventionellen Leiterplattentechnologie ist auch die Herstellung auf starren Trägern wichtig, da sie Folgendes ermöglicht: Ausrichtung und Registrierung, Hochtemperaturprozesse, konventionelle Chip-Bestückung durch Roboter und "On-Hard-Carrier"-Bauteiltests. Darüber hinaus ermöglicht die dargestellte Methode den direkten Einsatz handelsüblicher SMDs, was für die einfache Realisierung komplexer elektronischer Schaltungen wichtig ist. Als Endsubstrat kommt ein hochelastisches Silikonmaterial (EcoFlex) zum Einsatz, welches die Bauelementebenen einkapselt. Um die Bauelementebenen vom harten Träger auf das weiche Substrat zu übertragen, wird ein einstufiges, waferbasiertes und lösungsmittelfreies Ablöseverfahren eingesetzt, bei dem die differentielle Grenzflächenadhäsion einer Multi-Opferschichten genutzt wird. Für die hochelastischen Leiterbahnen wurde ein neues Mäander-Metallbahndesign entwickelt, welches als "spannungsadaptiv" bezeichnet wird. Die neue Mäander-Metallbahn variiert in ihrer Breite, um das einwirkende Drehmoment in den Metallbahnen, aufgrund der ungleichmäßigen Spannungsverteilung über die Mäander-Schleifen, aufzunehmen. Das spannungsadaptive Design zeigt eine signifikante Verbesserung der Spannungsverteilungen auf den Metallbahnen und führt experimentell zu einem höheren Niveau der maximalen Dehnung und der Anzahl der Dehnungszyklen. Es wurde eine breite Palette von dehnbaren Systemen demonstriert, darunter Elektronik, Optoelektronik, Akustoelektronik und Sensor-Arrays. Die Demonstratoren, auf Basis einer einzigen Metallisierungsschicht in einer Gummimatrix, enthalten Arrays mit gehäusten SMDs, LED-Nacktchips, laborgefertigte Si [my]-Transistoren und MEMS-Mikrofone. Weiterhin wird eine integrierte Multilayer-sPCB mit Chip-großen LEDs und Transistoren demonstriert, um eine adressierbare aktive Matrix zu realisieren. Dieser Prototyp demonstriert die Machbarkeit von integrierten Multilayer-sPCB und wird im Prinzip dazu führen, dass jedes heute bekannte elektronische System in ein äquivalentes dehnbares System überführt werden kann. Schließlich stellt diese Arbeit das bahnbrechende Konzept der metamorphen Elektronik vor, welche sich umwandeln kann um neue Topologien und Formfaktoren anzunehmen. Es werden verschiedene Arten von Deformationsmechanismen demonstriert, darunter das Aufblasen von gleichförmigen oder strukturierten Gummimembranen, 3D-geführte Deformationen und Vakuumformung in Kombination mit 3D-Schablonen. Die Palette der Topologien reicht dabei von halbkugelförmig, kugelförmig, konkav/konvex, pyramidenförmig, turmartig, bis hin zu komplexeren 3D-Formen, darunter Bienenaugen-Strukturen.Recent advancement in the field of electronics has taken a shift to enable the realization of mechanically stretchable electronics which morph to take on new form factors. Mechanical stretchability is necessary to have seamless integration of electronics in our daily life objects and many other purposes where conventional rigid electronic system is insufficient. This thesis aims to enable a stretchable printed circuit board (sPCB) technology that is compatible with industrial manufacturing. Ideally, the rigid carrier substrate of conventional electronics is intended to be replaced by stretchable rubber substrate with stretchable interconnects. Initially, a method has been developed to realize an industry compatible single layer stretchable PCB. The approach is different from other reported methods in this field, which apply the metallization to the rubber support and mount the components on top and, which suffer from a lower level of alignment and fixation. Instead, in the depicted method a hard carrier is used, which delays the use of the stretchable rubber support to the end of the processing sequence. The single layer method has been further developed to realize a multilayer integrated sPCB, where different metallization layers are connected through vertical interconnect access (VIA). The method uses hard carrier. Like conventional PCB technology, the hard carrier fabrication is important since it enables: alignment and registration, high temperature processing, conventional robotic chip placement, and “on-hard-carrier” device tests. Moreover, the depicted method enables direct use of commercially available SMDs which is important to realize complex electronic devices. As final substrate, highly stretchable silicone material (EcoFlex) is used which encapsulates the device layers. To transfer the device layers from hard carrier to soft substrate a single-step, wafer-level, and solvent-free detachment process has been developed which uses the differential interfacial adhesion in between the sacrificial layers. For highly stretchable interconnects a new meander metal track design is developed which is named as “stress adaptive” metal track. The new meander metal track varies in widths to accommodate produced torque in the metal tracks due to the non-uniform stress distribution over the meander loops. The stress adaptive design shows a significant improvement in the stress distributions over the metal tracks in computer simulated stress profile. And, experimental results show a higher level of maximum stretching (320%) and higher number of stretch-release cycles (11000) comparing with a reference design. A wide range of stretchable systems have been demonstrated including electronics, optoelectronics, acoustoelectronics and sensor arrays. The demonstrators contain arrays with packaged SMDs, bare dies integrated LEDs, lab-fabricated Si µ-transistors and MEMS microphones using a single metallization layer within a rubber matrix. Furthermore, an integrated multilayer sPCB is demonstrated using chip scale LEDs and transistors to realize an addressable active matrix. These prototypes of integrated multilayer electronics demonstrate method to enable multilayer sPCB technology which could lead to realize any electronic system known today to be stretchable. Finally, this thesis introduces a new type of electronics which morph to adapt to new topology and form factor. This shape-adaptive electronics is named as metamorphic electronics. Various types of deformation mechanisms have been demonstrated including inflation and/or deflation of uniform or patterned rubber membranes, 3D guided deformations, and vacuum forming in combination with 3D chaperons. The range of topologies includes hemispherical, spherical, concave/convex, pyramid, tower, bumble bee-eye, and more complex 3D shapes