FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation
FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation
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DOI：
10.1109/robosoft54090.2022.9762107
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发表时间：
2022-03
期刊：
影响因子：
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通讯作者：
Zhenishbek Zhakypov;A. Okamura
中科院分区：
文献类型：
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作者：
Zhenishbek Zhakypov;A. Okamura
可穿戴指尖的搭界通过施加皮肤压力，线性和旋转剪切和振动来提供触觉刺激。链接，关节， and transmission elements increase device size and weight. 3-D printing enables rapid manufacturing of complex devices with minimal assembly in large batches. However, it requires a careful arrangement of material properties, geometry, scale, and printer capabilities. Here we present a fully 3-D printed, soft, monolithic fingertip haptic device based on an origami pattern known as the “waterbomb” base that embeds foldable vacuum activation and produces 4-DoF of motion on the具有可调的触觉力（最多1.3 n剪切和7 N正常）和扭矩（包括25 n-mm）的指尖，紧凑型设备长40毫米，宽度为20毫米，这表明了折纸设计的效率和柔软的材料设计，以设计和快速制造微型机械效果。
Wearable fingertip haptic interfaces provide tactile stimuli on the fingerpads by applying skin pressure, linear and rotational shear, and vibration. Designing and fabricating a compact, multi-degree-of-freedom, and forceful fingertip haptic interface is challenging due to trade-offs among miniaturization, multifunctionality, and manufacturability. Downsizing electromagnetic actuators that produce high torques is infeasible, and integrating multiple actuators, links, joints, and transmission elements increases device size and weight. 3-D printing enables rapid manufacturing of complex devices with minimal assembly in large batches. However, it requires a careful arrangement of material properties, geometry, scale, and printer capabilities. Here we present a fully 3-D printed, soft, monolithic fingertip haptic device based on an origami pattern known as the “waterbomb” base that embeds foldable vacuum actuation and produces 4-DoF of motion on the fingerpad with tunable haptic forces (up to 1.3 N shear and 7 N normal) and torque (up to 25 N-mm). Including the thimble mounting, the compact device is 40 mm long and 20 mm wide. This demonstrates the efficacy of origami design and soft material 3D printing for designing and rapidly fabricating miniature yet complex wearable mechanisms with force output appropriate for haptic interaction.