edge slider buttons Tactlet library real-time control a b c d Figure 1. Tactlets is a novel approach enabling digital design and rapid printing of custom, high-resolution controls for tactile output with integrated touch sensing on interactive objects. (a) A design tool allows a designer to add Tactlet controls from a library and customize them for 3D object geometries. The designer can then fabricate a functional prototype using conductive inkjet printing (b) or 3D printing (c), and explore the interactive behavior of the Tactlet control. (d) This approach allows for rapid design iterations to prototype tactile input and output on a variety of objects.
ABSTRACTRapid prototyping of haptic output on 3D objects promises to enable a more widespread use of the tactile channel for ubiqui tous, tangible, and wearable computing. Existing prototyping approaches, however, have limited tactile output capabilities, require advanced skills for design and fabrication, or are in compatible with curved object geometries. In this paper, we present a novel digital fabrication approach for printing cus tom, high-resolution controls for electro-tactile output with integrated touch sensing on interactive objects. It supports curved geometries of everyday objects. We contribute a de sign tool for modeling, testing, and refining tactile input and output at a high level of abstraction, based on parameterized electro-tactile controls. We further contribute an inventory of 10 parametric Tactlet controls that integrate sensing of user input with real-time electro-tactile feedback. We present two approaches for printing Tactlets on 3D objects, using conduc tive inkjet printing or FDM 3D printing. Empirical results from a psychophysical study and findings from two practi cal application cases confirm the functionality and practical feasibility of the Tactlets approach.•Human-centered computing → Human computer inter action (HCI); Haptic devices; Interactive systems and tools; Interface design prototyping;Digital fabrication has been proposed as a new method for rapid prototyping of interactive devices [10,25,34,32,44]. By printing the custom device, rather than manually assembling it from conventional electronic components, the fabrication process can be considerably simplified and sped up. At the same time, as printable electronics commonly are very thin and deformable, more demanding geometries and advanced I/O capabilities can be realized. Prior work has demonstrated ap proaches based on printed electronics to equip custom-shaped 3D objects with various types of printed sensors for capturing user input [11,34,44,45,54] and printable output compo nents, including light-emitting displays [35,54] and actuators for shape-change [7,57].However, tactile output was so far left unaddressed. Fab ricating custom interactive objects that include computercontrolled tactile output still relies on manually assembling conventional components [15,36]. Moreover, the rather large