NDLI: Haptic jamming: A deformable geometry, variable stiffness tactile display using pneumatics and particle jamming

Content Provider	IEEE Xplore Digital Library
Author	Stanley, A.A. Gwilliam, J.C. Okamura, A.M.
Copyright Year	2013
Abstract	Many controllable tactile displays present the user with either variable mechanical properties or adjustable surface geometries, but controlling both simultaneously is challenging due to electromechanical complexity and the size/weight constraints of haptic applications. This paper discusses the design, manufacturing, control, and preliminary evaluation of a novel haptic display that achieves both variable stiffness and deformable geometry via air pressure and a technique called particle jamming. The surface of the device consists of a flat, deformable layer of hollow silicone cells filled with coffee grounds. It selectively solidifies in different regions when the air is vacuumed out of individual cells, jamming the coffee particles together. The silicone layer is clamped over a chamber with regulated air pressure. Different sequences of air pressure and vacuum level adjustment allow regions of the surface to display a small rigid lump, a large soft plane, and various other combinations of lump size and stiffness. Experimental data from individual cells show that surface stiffness increases with vacuum level and the elliptical shape of the cells become increasingly spherical with increased chamber pressure.
Starting Page	25
Ending Page	30
File Size	853058
Page Count	6
File Format	PDF
ISBN	9781479900879
e-ISBN	9781479900886
DOI	10.1109/WHC.2013.6548379
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-04-14
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	H.5.2 [Information Interfaces and Presentation]: User Interfaces-Haptic I/O Shape Force Haptic interfaces Jamming Ellipsoids
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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