DefSense

Bächer, Moritz; Hepp, Benjamin; Pece, Fabrizio; Kry, Paul G.; Bickel, Bernd; Thomaszewski, Bernhard; Hilliges, Otmar

doi:10.1145/2858036.2858354

Cited by 48 publications

(12 citation statements)

References 30 publications

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“…Rendl et al [2014] use eight transparent printed electrodes on a transparent and flexible 2D display overlay to reconstruct 2.5D bending and flexing of the sheet in real time, but do not allow for stretch. [Bächer et al 2016] propose an optimization based algorithm to design self-sensing input devices by embedding piezo-resistive polymer traces into flexible 3D printed objects. [Sarwar et al 2017] use polyacrylamide electrodes embedded in silicone to produce a flexible, transparent 4×4 sensing grid, and [Xu et al 2016] propose a PDMS based capacitive array; both are limited to detecting touch gestures.…”

Section: Related Workmentioning

confidence: 99%

“…Bending information can be used to recover articulated skeletal motion, and resistive bend sensors are typically used in VR data gloves. However, these suffer from hysteresis [Bächer et al 2016]; imprecise placement and sensor slippage can impact accuracy [Kessler et al 1995]. A soft bend sensor that is insensitive to stretching and mountable directly on the user's skin is proposed in [Shen et al 2016], increasing angular accuracy, but it is inherently limited to measuring uni-axial bending.…”

Section: Related Workmentioning

confidence: 99%

“…Conductive polymers have been leveraged to fabricate resistive bend sensors [Bächer et al 2016;Rendl et al 2012], and are the basis of soft capacitive distance sensors, which are now readily available commercially [Par 2018;Str 2018]. Such stretchable capacitive sensors are enticing, since they are thin, durable, and may be embedded in clothing or directly worn on the body.…”

Section: Introductionmentioning

confidence: 99%

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Deformation Capture via Soft and Stretchable Sensor Arrays

et al. 2019

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Fig. 1. Left to right: We propose a method for the fabrication of soft and stretchable silicone based capacitive sensor arrays. The sensor provides dense stretch measurements that, together with a data-driven prior, allow for the capture of surface deformations in real-time and without the need for line-of-sight.We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive layers with complex geometries into silicone compounds. Overlapping conductive areas from separate layers form local capacitors that measure dense area changes. Contrary to existing fabrication methods, the proposed technique only requires hardware that is readily available in modern fablabs. While area measurements alone are not enough to reconstruct the full 3D deformation of a surface, they become sufficient when paired with a data-driven prior. A novel semi-automatic tracking algorithm, based on an elastic surface geometry deformation, allows to capture ground-truth data with an optical mocap system, even under heavy occlusions or partially unobservable markers. The resulting dataset is used to train a regressor based on deep neural networks, directly mapping the area readings to global positions of surface vertices. We demonstrate the flexibility and accuracy of the proposed hardware and software in a series of controlled experiments, and design a prototype of wearable wrist, elbow and biceps sensors, which do not require line-of-sight and can be worn below regular clothing.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Deformation Capture via Soft and Stretchable Sensor Arrays

et al. 2019

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“…In recent years, researchers have explored how to use the fexibility and softness of materials to create interactive objects. Some work creates sensors by mixing soft and conductive materials together such as coating sponges in conductive ink [22], curing a carbon-flled elastomer [37], embedding conductive ink into 3D printing with fexible thermoplastic polyurethane (TPU) [1], and printing TPU and conductive flaments together [31]. Using the same fexible material of TPU, Ion et al print mechanisms composed of metamaterial cells [12].…”

Section: Sof Materials Fabricationmentioning

confidence: 99%

Desktop Electrospinning

Rivera

Hudson

2019

Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems

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Figure 1: A range of objects fabricated on our novel 3D printer using rigid plastic and electrospun textiles: (A) a close-up of our printer electrospinning; (B) an origami-style folding lamp with piezoresistve brightness control and a soft custom-shaped capacitive toggle switch that use electrospun textiles for sensing and tactile experiences; (C) an actuated electrospun and rigid plastic fower that opens when an electrospun textile liquid sensor detects sufcient water in the soil; (D) a sheep comic that uses electrospun textile with capacitive sensing to create an interactive tactile experience.

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“…To increase the range of functionality for digitally-fabricated objects, researchers are also investigating computational approaches to embedding sensors and various other electromechanical components into their designs [Bächer et al 2016;Follmer et al 2015;Villar et al 2012;Weichel et al 2013]. These research efforts build a bridge between the fields of HCI, Computer Graphics and Robotics, and our work follows this spirit.…”

Section: Related Workmentioning

confidence: 99%

Skaterbots

et al. 2018

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Fig. 1. Robotic creatures created with our computational design system employ arbitrary arrangements of legs and wheels to locomote.We present a computation-driven approach to design optimization and motion synthesis for robotic creatures that locomote using arbitrary arrangements of legs and wheels. Through an intuitive interface, designers first create unique robots by combining different types of servomotors, 3D printable connectors, wheels and feet in a mix-and-match manner. With the resulting robot as input, a novel trajectory optimization formulation generates walking, rolling, gliding and skating motions. These motions emerge naturally based on the components used to design each individual robot. We exploit the particular structure of our formulation and make targeted simplifications to significantly accelerate the underlying numerical solver without compromising quality. This allows designers to interactively choreograph stable, physically-valid motions that are agile and compelling. We furthermore develop a suite of user-guided, semi-automatic, and fully-automatic optimization tools that enable motion-aware edits of the robot's physical structure. We demonstrate the efficacy of our design methodology by creating a diverse array of hybrid legged/wheeled mobile robots which we validate using physics simulation and through fabricated prototypes.

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DefSense

Cited by 48 publications

References 30 publications

Deformation Capture via Soft and Stretchable Sensor Arrays

Deformation Capture via Soft and Stretchable Sensor Arrays

Desktop Electrospinning

Skaterbots

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