Ryusei Uramune
Yoshihiro Kawahara
ABSTRACT
Conventional pneumatic haptic displays need a complex and weight system because air is fed through a tube from an air compressor. To address this problem, we propose a haptic display that uses a liquid-to-gas phase change actuator and Peltier device. The actuator is composed of a thin plastic pouch containing a low boiling point liquid. The temperature of the liquid is controlled by a Peltier device in close contact with an actuator. This approach allows soft actuators to be inflated without the use of a compressor and tubes, allowing us to realize a small and light haptic display. We implemented the haptic display that has a pouch of 10 mm square and evaluated the characteristics of it. We confirmed that the maximum output force reached almost 1.5 N, which is a similar level to off-the-shelf wearable haptic display.
Supplemental Material
- Takefumi Hiraki, Kenichi Nakahara, Koya Narumi, Ryuma Niiyama, Noriaki Kida, Naoki Takamura, Hiroshi Okamoto, and Yoshihiro Kawahara. 2020. Laser Pouch Motors: Selective and Wireless Activation of Soft Actuators by Laser-Powered Liquid-to-Gas Phase Change. IEEE Robotics and Automation Letters 5, 3 (jul 2020), 4180--4187. DOI: http://dx.doi.org/10.1109/LRA.2020.2982864Google Scholar
Cross Ref
- Kenichi Nakahara, Koya Narumi, Ryuma Niiyama, and Yoshihiro Kawahara. 2017. Electric phase-change actuator with inkjet printed flexible circuit for printable and integrated robot prototyping. In Proceedings of 2017 IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 1856--1863. DOI: http://dx.doi.org/10.1109/ICRA.2017.7989217Google ScholarDigital Library
- Koya Narumi, Hiroki Sato, Kenichi Nakahara, Young Ah Seong, Kunihiko Morinaga, Yasuaki Kakehi, Ryuma Niiyama, and Yoshihiro Kawahara. 2020. Liquid Pouch Motors: Printable Planar Actuators Driven by Liquid-to-Gas Phase Change for Shape-Changing Interfaces. IEEE Robotics and Automation Letters 5, 3 (jul 2020), 3915--3922. DOI: http://dx.doi.org/10.1109/LRA.2020.2983681Google ScholarCross Ref
- Claudio Pacchierotti, Stephen Sinclair, Massimiliano Solazzi, Antonio Frisoli, Vincent Hayward, and Domenico Prattichizzo. 2017. Wearable haptic systems for the fingertip and the hand: Taxonomy, review, and perspectives. (2017). DOI: http://dx.doi.org/10.1109/TOH.2017.2689006Google ScholarDigital Library
- Michael Raitor, Julie M. Walker, Allison M. Okamura, and Heather Culbertson. 2017. WRAP: Wearable, restricted-aperture pneumatics for haptic guidance. In Proceedings of 2017 IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 427--432. DOI: http://dx.doi.org/10.1109/ICRA.2017.7989055Google ScholarDigital Library
- Weicheng Wu and Heather Culbertson. 2019. Wearable Haptic Pneumatic Device for Creating the Illusion of Lateral Motion on the Arm. In 2019 IEEE World Haptics Conference, WHC 2019. 193--198. DOI: http://dx.doi.org/10.1109/WHC.2019.8816170Google Scholar
- Mengjia Zhu, Amirhossein H. Memar, Aakar Gupta, Majed Samad, Priyanshu Agarwal, Yon Visell, Sean J. Keller, and Nicholas Colonnese. 2020. PneuSleeve: In-fabric Multimodal Actuation and Sensing in a Soft, Compact, and Expressive Haptic Sleeve. In Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems. 1--12. DOI: http://dx.doi.org/10.1145/3313831.3376333Google ScholarDigital Library
Index Terms
- HaPouch: Soft and Wearable Haptic Display Devices using Liquid-to-gas Phase Change Actuator
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