论文标题
Hoxels：完全3-D打印的软模式和多模式和多接触触觉体素显示器，用于丰富的触觉信息传输
Hoxels: Fully 3-D Printed Soft Multi-Modal & Multi-Contact Haptic Voxel Displays for Enriched Tactile Information Transfer
论文作者
论文摘要
腕上的触觉界面可以提供各种触觉提示，以传达信息和与虚拟对象的互动。与指尖不同，手腕和前臂提供了相当大的皮肤，可以放置多个触觉执行器，以显示以最小的背景为富集触觉信息传递的显示。现有的多重自由度（DOF）腕上戴的设备采用传统的刚性机器人机制和电动机来限制其多功能性，微型化，分配和组装。基于软弹性弹性执行器阵列的替代溶液仅构成1-DOF触觉像素。较高的原型产生一个单个相互作用点，需要复杂的手动组装过程，例如成型和粘合几个部分。这些方法限制了高功能紧凑型触觉显示，可重复性和可定制性的构建。在这里，我们介绍了一种小说，完全3D打印，柔软，可穿戴的触觉显示，以增加手腕上的触觉信息传递，并带有3D-DOF触觉素（称为Hoxels）。我们的最初原型包括两个烟草，可提供皮肤剪切，压力，扭曲，拉伸，挤压和其他任意刺激。每个Hoxel在X和Y轴上产生高达1.6 N的力，并在Z轴上产生高达20 n的力。我们的方法可以快速制造多功能和有力的触觉显示器。
Wrist-worn haptic interfaces can deliver a wide range of tactile cues for communication of information and interaction with virtual objects. Unlike fingertips, the wrist and forearm provide a considerably large area of skin that allows the placement of multiple haptic actuators as a display for enriching tactile information transfer with minimal encumbrance. Existing multi-degree-of-freedom (DoF) wrist-worn devices employ traditional rigid robotic mechanisms and electric motors that limit their versatility, miniaturization, distribution, and assembly. Alternative solutions based on soft elastomeric actuator arrays constitute only 1-DoF haptic pixels. Higher-DoF prototypes produce a single interaction point and require complex manual assembly processes, such as molding and gluing several parts. These approaches limit the construction of high-DoF compact haptic displays, repeatability, and customizability. Here we present a novel, fully 3D-printed, soft, wearable haptic display for increasing tactile information transfer on the wrist and forearm with 3-DoF haptic voxels, called hoxels. Our initial prototype comprises two hoxels that provide skin shear, pressure, twist, stretch, squeeze, and other arbitrary stimuli. Each hoxel generates force up to 1.6 N in the x and y-axes and up to 20 N in the z-axis. Our method enables the rapid fabrication of versatile and forceful haptic displays.
