A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback

Williams, Sophia R.; Suchoski, Jacob M.; Chua, Zonghe; Okamura, Allison M.

doi:10.1109/lra.2022.3144798

Cited by 14 publications

(10 citation statements)

References 18 publications

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“…Thus, this process offers advantages in ease of sensing and actuation when used in origami haptics. Recent work involving this process have chosen materials, such as polyethylene terephthalate (PET) polymers [26], [27], kapton, and carbon fiber [35]- [37], which can flexibly fold and withstand high heat [38]. The method in general works on single layer at the time, requiring adhesion/binding process for assembling multiple layers.…”

Section: ) Pre-folding Fabrication Tools and Methodsmentioning

confidence: 99%

Origami-Inspired Haptics: A Literature Review

Iiyoshi,

Lee,

Dalaq

et al. 2024

IEEE Access

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Origami, the art of paper folding, addresses traditionally conflicting requirements for designing both powerful and low-cost haptic interfaces. As of today, there are no comprehensive reviews that cover origami-inspired haptic actuation, sensing, design processes, and fabrication. To fill this void, this paper summarizes existing origami-inspired haptic technologies in terms of workspace, degrees of freedom (DoF), power consumption, control methods, sensing, and actuation. The paper also presents an iterative design process for pattern generation and origami-inspired haptic characterization. Using this design process, we demonstrate a case study that involves the design, development, and evaluation of a novel syringe haptic interface for dental simulation. Our main findings suggest that origami-inspired haptics need more mathematically optimized and versatile design, as well as novel materials that offer a room for embedded sensing and actuation.

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Section: ) Pre-folding Fabrication Tools and Methodsmentioning

confidence: 99%

Origami-Inspired Haptics: A Literature Review

Iiyoshi,

Lee,

Dalaq

et al. 2024

IEEE Access

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“…[9] We use our hands for manipulation and have particularly high spatial and force sensitivity in our fingertips, [10,11] which is why most cutaneous haptic devices have been developed for use on the fingertips. [12][13][14] Yet, often without actively noticing, we make use of the sense of touch for many daily tasks, such as walking, sitting, typing, and eating. As our entire body is covered in mechanoreceptors; [15,16] so ideally, haptic feedback would be delivered over all our skin.…”

Section: Introductionmentioning

confidence: 99%

Hydraulically Amplified Electrostatic Taxels (HAXELs) for Full Body Haptics

Leroy

Shea

2023

Adv Materials Technologies

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The ability to mechanically stimulate touch receptors over the entire body is a key feature for fully immersive and highly realistic virtual reality experience. Haptic stickers, flexible arrays of HAXELs (hydraulically amplified TAXels), that enable cutaneous haptics over nearly all parts of the body, are reported. HAXELs are zipping electrostatic actuators that combine stretchable elastomers and high permittivity flexible films to generate both high strains and high forces, from DC to 200 Hz. A fabrication process that enables scaling HAXELs from 2 to 15 mm in diameter is presented, allowing to tailor the actuators to different body parts and to wearables such as wrist‐watches. The different sizes of HAXELs generate blocked forces from 100 to 800 mN, with DC displacements from 100 to 850 µm, well above sensation thresholds. Haptics tests of Haptic Stickers, 5 × 5 arrays of 10 mm diameter devices, on palms, back of the hand, neck, arm, and back of a dozen volunteers, are done with users reporting high pattern recognition success on many body locations. The Haptic Stickers uniquely offer a thin and lightweight form‐factor, which does not limit the freedom of motion of the user, compatible with untethered scenarios.

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“…Two origami fingertip haptic devices that could deliver normal, shear, and torsional haptic cues to the fingertip were shown. [ 25 ] However, despite their innovative design, these prototypes are considered bulky and heavy, making it difficult to wear them as a garment or clothing accessory. Additionally, they demand labor‐intensive hand assembly procedures like molding and gluing many pieces.…”

Section: Introductionmentioning

confidence: 99%

Soft Wearable Haptic Display and Flexible 3D Force Sensor for Teleoperated Surgical Systems

Thai,

Davies,

Nguyen

et al. 2023

Advanced Sensor Research

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Haptic (touch) is important for effective interaction with the surroundings. In teleoperated surgical systems, its absence leads to reduced perception, making delicate tasks difficult and resulting in unexpected damage to surrounding tissues. To enhance safety, a force‐feedback system and haptic device are needed. However, existing haptic prototypes are associated with rigid, bulky, and heavy components, making effective communication with the skin problematic. This paper presents a teleoperated endoscopic surgical system with an integrated 3D force sensor and real‐time haptic feedback. A surgical robotic arm is remotely controlled by a soft haptic glove incorporated 3‐axis cutaneous device and a finger kinesthetic module. The 3D force sensor is constructed from hydraulic filament soft sensors that can induce pressure change under strain. To enable precise motion, the haptic glove is operated by a feedforward controller and a master‐slave architecture. Experiments with human subjects (n = 15) show that cutaneous and kinesthetic feedback significantly improves the user's performance (9.4 out of 10) compared to no haptic feedback (2.27 out of 10). Finally, subjects rank the new system as highly wearable, comfortable, and effective, which is expected to bridge a gap in the surgical field and support the future development of advanced teleoperated systems.

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A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback

Cited by 14 publications

References 18 publications

Origami-Inspired Haptics: A Literature Review

Origami-Inspired Haptics: A Literature Review

Hydraulically Amplified Electrostatic Taxels (HAXELs) for Full Body Haptics

Soft Wearable Haptic Display and Flexible 3D Force Sensor for Teleoperated Surgical Systems

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