We present a novel design for materials that are reconfigurable by end-users. Conceptually, we propose decomposing such reconfigurable materials into (1) a generic, complex material consisting of engineered microstructures (known as metamaterials) designed to be purchased and (2) a simple configuration geometry that can be fabricated by end-users to fit their individual use cases. Specifically, in this paper we investigate reconfiguring our material’s elasticity, such that it can cover existing objects and thereby augment their material properties. Users can configure their materials by generating the configuration geometry using our interactive editor, 3D printing it using commonly available filaments (e. g., PLA), and pressing it onto the generic material for local coupling. We characterize the mechanical properties of our reconfigurable elastic metamaterial and showcase the material’s applicability as, e.g., augmentation for haptic props in virtual reality, a reconfigurable shoe sole for different activities, or a battleship-like ball game.
With spaceR, we present both design and implementation of a resistive force-sensor based on a spacer fabric knit. Due to its softness and elasticity, our sensor provides an appealing haptic experience. It enables continuous input with high precision due to its innate haptic feedback and can be manufactured ready-made on a regular two-bed weft knitting machine, without requiring further post-processing steps. For our multi-component knit, we add resistive yarn to the filler material, in order to achieve a highly sensitive and responsive pressure sensing textile. Sensor resistance drops by ~90% when actuated with moderate finger pressure of 2 N, making the sensor accessible also for straightforward readout electronics. We discuss related manufacturing parameters and their effect on shape and electrical characteristics and explore design opportunities to harness visual and tactile affordances. Finally, we demonstrate several application scenarios by implementing diverse spaceR variations, including analog rocker- and four-way directional buttons, and show the possibility of mode-switching by tracking temporal data.
We present Kinergy—an interactive design tool for creating self-propelled motion by harnessing the energy stored in 3D printable springs. To produce controllable output motions, we introduce 3D printable kinetic units, a set of parameterizable designs that encapsulate 3D printable springs, compliant locks, and transmission mechanisms for three non-periodic motions—instant translation, instant rotation, continuous translation—and four periodic motions—continuous rotation, reciprocation, oscillation, intermittent rotation. Kinergy allows the user to create motion-enabled 3D models by embedding kinetic units, customize output motion characteristics by parameterizing embedded springs and kinematic elements, control energy by operating the specialized lock, and preview the resulting motion in an interactive environment. We demonstrate the potential of our techniques via example applications from spring-loaded cars to kinetic sculptures and close with a discussion of key challenges such as geometric constraints.
As touch interactions become ubiquitous in the field of human computer interactions, it is critical to enrich haptic feedback to improve efficiency, accuracy and immersive experiences. This paper presents HapTag, a thin and flexible actuator to support integration of push button tactile renderings to daily soft surfaces. Specifically, HapTag works under the principle of hydraulically amplified electroactive actuator (HASEL) while being optimized by embedding a pressure sensing layer, and being activated with dedicated voltage appliance in response to users' input actions, resulting in fast response time, controllable and expressive push-button tactile rendering capabilities. HapTag is in compact formfactor, and can be attached, integrated, or embedded on various soft surfaces like cloth, leather and rubber. Three common push button tactile patterns were adopted and implemented with HapTag. We validated the feasibility and expressiveness of HapTag by demonstrating a series of innovative applications under different circumstances.
Pin-based shape-changing displays can present dynamic shape changes by actuating a number of pins. However, the use of many linear actuators to achieve this makes the electrical structure and mechanical construction of the display complicated. We propose a simple pin-based shape-changing display that outputs shape and motions without any electronic elements. Our display consists of magnetic pins in a pin housing, with a magnetic sheet underneath it. The magnetic sheet has a specific magnetic pattern on its surface, and each magnetic pin has a magnet at its lower end. The repulsive force generated between the magnetic sheet and the magnetic pin levitates the pin vertically, and the height of the pin-top varies depending on the magnetic pattern. This paper introduces the basic structure of the display and compares several fabrication methods for the magnetic pins, to highlight the applicability of this method. We have also demonstrated some applications and discussed future possibilities.
Humans can estimate the properties of wielded objects (e.g., inertia and viscosity) using the force applied to the hand. We focused on this mechanism and aimed to represent the properties of wielded objects by dynamically changing the force applied to the hand. We propose MetamorphX, which uses control moment gyroscopes (CMGs) to generate ungrounded, 3-degrees of freedom moment feedback. The high-response moments obtained CMGs allow the inertia and viscosity of motion to be set to the desired values via impedance control. A technical evaluation indicated that our device can generate a moment with a 60-ms delay. The inertia and viscosity of motion were varied by 0.01 kgm^2 and 0.1 Ns, respectively. Additionally, we demonstrated that our device can dynamically change the inertia and viscosity of motion through virtual reality applications.