Yanjun Chen
Xuewei Liang
ABSTRACT
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 the 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 a 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 a 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.
- Eric Acome, Shane K Mitchell, TG Morrissey, MB Emmett, Claire Benjamin, Madeline King, Miles Radakovitz, and Christoph Keplinger. 2018. Hydraulically amplified self-healing electrostatic actuators with muscle-like performance. Science 359, 6371 (2018), 61–65.Google Scholar
- Asma Akther, Jasmine O Castro, Seyed Ali Mousavi Shaegh, Amgad R Rezk, and Leslie Y Yeo. 2019. Miniaturised acoustofluidic tactile haptic actuator. Soft matter 15, 20 (2019), 4146–4152.Google Scholar
- David S. Alles. 1970. Information Transmission by Phantom Sensations. IEEE Transactions on Man-Machine Systems 11, 1 (1970), 85–91. https://doi.org/10.1109/TMMS.1970.299967Google ScholarCross Ref
- Cagatay Basdogan, Frederic Giraud, Vincent Levesque, and Seungmoon Choi. 2020. A review of surface haptics: enabling tactile effects on touch surfaces. IEEE transactions on haptics 13, 3 (2020), 450–470.Google Scholar
- Olivier Bau, Ivan Poupyrev, Ali Israr, and Chris Harrison. 2010. TeslaTouch: Electrovibration for Touch Surfaces. Association for Computing Machinery, New York, NY, USA, 283–292. https://doi.org/10.1145/1866029.1866074Google ScholarDigital Library
- Sean Follmer, Daniel Leithinger, Alex Olwal, Nadia Cheng, and Hiroshi Ishii. 2012. Jamming User Interfaces: Programmable Particle Stiffness and Sensing for Malleable and Shape-Changing Devices. In Proceedings of the 25th Annual ACM Symposium on User Interface Software and Technology (Cambridge, Massachusetts, USA) (UIST ’12). Association for Computing Machinery, New York, NY, USA, 519–528. https://doi.org/10.1145/2380116.2380181Google ScholarDigital Library
- Sean Follmer, Daniel Leithinger, Alex Olwal, Akimitsu Hogge, and Hiroshi Ishii. 2013. InFORM: Dynamic Physical Affordances and Constraints through Shape and Object Actuation. In Proceedings of the 26th Annual ACM Symposium on User Interface Software and Technology (St. Andrews, Scotland, United Kingdom) (UIST ’13). Association for Computing Machinery, New York, NY, USA, 417–426. https://doi.org/10.1145/2501988.2502032Google ScholarDigital Library
- Christian Frisson, Julien Decaudin, Thomas Pietrzak, Alexander Ng, Pauline Poncet, Fabrice Casset, Antoine Latour, and Stephen A. Brewster. 2017. Designing Vibrotactile Widgets with Printed Actuators and Sensors. In Adjunct Publication of the 30th Annual ACM Symposium on User Interface Software and Technology(Québec City, QC, Canada) (UIST ’17). Association for Computing Machinery, New York, NY, USA, 11–13. https://doi.org/10.1145/3131785.3131800Google ScholarDigital Library
- S Grimnes. 1983. Electrovibration, cutaneous sensation of microampere current. Acta Physiologica Scandinavica 118, 1 (1983), 19–25.Google ScholarCross Ref
- Daniel Groeger, Martin Feick, Anusha Withana, and Jürgen Steimle. 2019. Tactlets: Adding Tactile Feedback to 3D Objects Using Custom Printed Controls. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology(New Orleans, LA, USA) (UIST ’19). Association for Computing Machinery, New York, NY, USA, 923–936. https://doi.org/10.1145/3332165.3347937Google ScholarDigital Library
- Juan J Huaroto, Victor Ticllacuri, Etsel Suarez, Robert Ccorahua, and Emir A Vela. 2019. A Soft Pneumatic Haptic Actuator Mechanically Programmed for Providing Mechanotactile Feedback. MRS Advances 4, 19 (2019), 1131–1136.Google ScholarCross Ref
- Apple Inc.2021. Human Interface Guidelines: Haptics. Retrieved September 6, 2021 from https://developer.apple.com/design/human-interface-guidelines/ios/user-interaction/haptics/Google Scholar
- Yvonne Jansen, Thorsten Karrer, and Jan Borchers. 2010. MudPad: Tactile Feedback and Haptic Texture Overlay for Touch Surfaces. In ACM International Conference on Interactive Tabletops and Surfaces (Saarbrücken, Germany) (ITS ’10). Association for Computing Machinery, New York, NY, USA, 11–14. https://doi.org/10.1145/1936652.1936655Google ScholarDigital Library
- Lynette A Jones and Susan J Lederman. 2006. Human hand function. Oxford university press.Google Scholar
- Yei Hwan Jung, Jae-Hwan Kim, and John A Rogers. 2020. Skin-Integrated Vibrohaptic Interfaces for Virtual and Augmented Reality. Advanced Functional Materials(2020), 2008805.Google Scholar
- Edouard Leroy, Ronan Hinchet, and Herbert Shea. 2020. Multimode hydraulically amplified electrostatic actuators for wearable haptics. Advanced Materials 32, 36 (2020), 2002564.Google ScholarCross Ref
- Yi-Chi Liao, Sunjun Kim, Byungjoo Lee, and Antti Oulasvirta. 2020. Button Simulation and Design via FDVV Models. Association for Computing Machinery, New York, NY, USA, 1–14. https://doi.org/10.1145/3313831.3376262Google ScholarDigital Library
- Alex Mazursky, Shan-Yuan Teng, Romain Nith, and Pedro Lopes. 2021. MagnetIO: Passive yet Interactive Soft Haptic Patches Anywhere. Association for Computing Machinery, New York, NY, USA. https://doi.org/10.1145/3411764.3445543Google ScholarDigital Library
- Shane K Mitchell, Trent Martin, and Christoph Keplinger. [n.d.]. A Pocket-Sized Ten-Channel High Voltage Power Supply for Soft Electrostatic Actuators. Advanced Materials Technologies([n. d.]), 2101469.Google Scholar
- Seongcheol Mun, Sungryul Yun, Saekwang Nam, Seung Koo Park, Suntak Park, Bong Je Park, Jeong Mook Lim, and Ki-Uk Kyung. 2018. Electro-active polymer based soft tactile interface for wearable devices. IEEE transactions on haptics 11, 1 (2018), 15–21.Google ScholarCross Ref
- Mark Nagurka and Richard Marklin. 2005. Measurement of stiffness and damping characteristics of computer keyboard keys. (2005).Google Scholar
- T. Nara, M. Takasaki, T. Maeda, T. Higuchi, S. Ando, and S. Tachi. 2001. Surface acoustic wave tactile display. IEEE Computer Graphics and Applications 21, 6 (2001), 56–63. https://doi.org/10.1109/38.963461Google ScholarDigital Library
- Alex Olwal, Jon Moeller, Greg Priest-Dorman, Thad Starner, and Ben Carroll. 2018. I/O Braid: Scalable Touch-Sensitive Lighted Cords Using Spiraling, Repeating Sensing Textiles and Fiber Optics. In Proceedings of the 31st Annual ACM Symposium on User Interface Software and Technology (Berlin, Germany) (UIST ’18). Association for Computing Machinery, New York, NY, USA, 485–497. https://doi.org/10.1145/3242587.3242638Google ScholarDigital Library
- Antti Oulasvirta, Sunjun Kim, and Byungjoo Lee. 2018. Neuromechanics of a Button Press. Association for Computing Machinery, New York, NY, USA, 1–13. https://doi.org/10.1145/3173574.3174082Google ScholarDigital Library
- Ailish O’Halloran, Fergal O’malley, and Peter McHugh. 2008. A review on dielectric elastomer actuators, technology, applications, and challenges. Journal of Applied Physics 104, 7 (2008), 9.Google Scholar
- Chaeyong Park, Jinhyuk Yoon, Seungjae Oh, and Seungmoon Choi. 2020. Augmenting Physical Buttons with Vibrotactile Feedback for Programmable Feels. In Proceedings of the 33rd Annual ACM Symposium on User Interface Software and Technology(Virtual Event, USA) (UIST ’20). Association for Computing Machinery, New York, NY, USA, 924–937. https://doi.org/10.1145/3379337.3415837Google ScholarDigital Library
- Gunhyuk Park and Seungmoon Choi. 2018. Tactile Information Transmission by 2D Stationary Phantom Sensations. Association for Computing Machinery, New York, NY, USA, 1–12. https://doi.org/10.1145/3173574.3173832Google ScholarDigital Library
- Ron Pelrine, Roy Kornbluh, Qibing Pei, and Jose Joseph. 2000. High-speed electrically actuated elastomers with strain greater than 100%. Science 287, 5454 (2000), 836–839.Google Scholar
- Ron Pelrine, Qibing Pei, and Roy Kornbluh. 2018. Dielectric elastomers: past, present, and potential future. In Electroactive Polymer Actuators and Devices (EAPAD) XX, Vol. 10594. International Society for Optics and Photonics, 1059406.Google Scholar
- Ivan Poupyrev, Nan-Wei Gong, Shiho Fukuhara, Mustafa Emre Karagozler, Carsten Schwesig, and Karen E. Robinson. 2016. Project Jacquard: Interactive Digital Textiles at Scale. In Proceedings of the 2016 CHI Conference on Human Factors in Computing Systems (San Jose, California, USA) (CHI ’16). Association for Computing Machinery, New York, NY, USA, 4216–4227. https://doi.org/10.1145/2858036.2858176Google ScholarDigital Library
- Robert G Radwin and Barry A Ruffalo. 1999. Computer key switch force-displacement characteristics and short-term effects on localized fatigue. Ergonomics 42, 1 (1999), 160–170.Google ScholarCross Ref
- Jussi Rantala, Katri Salminen, Roope Raisamo, and Veikko Surakka. 2013. Touch Gestures in Communicating Emotional Intention via Vibrotactile Stimulation. Int. J. Hum.-Comput. Stud. 71, 6 (June 2013), 679–690. https://doi.org/10.1016/j.ijhcs.2013.02.004Google ScholarDigital Library
- Munehiko Sato, Ivan Poupyrev, and Chris Harrison. 2012. Touché: Enhancing Touch Interaction on Humans, Screens, Liquids, and Everyday Objects. Association for Computing Machinery, New York, NY, USA, 483–492. https://doi.org/10.1145/2207676.2207743Google ScholarDigital Library
- Samuel Schlatter, Patrin Illenberger, and Samuel Rosset. 2018. Peta-pico-Voltron: An open-source high voltage power supply. HardwareX 4(2018), e00039.Google ScholarCross Ref
- Y. Sekiguchi, K. Hirota, and M. Hirose. 2005. The design and implementation of ubiquitous haptic device. In First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference. 527–528. https://doi.org/10.1109/WHC.2005.128Google ScholarDigital Library
- Tanay Singhal and Oliver Schneider. 2021. Juicy Haptic Design: Vibrotactile Embellishments Can Improve Player Experience in Games. Association for Computing Machinery, New York, NY, USA. https://doi.org/10.1145/3411764.3445463Google ScholarDigital Library
- Alexa F. Siu, Eric J. Gonzalez, Shenli Yuan, Jason B. Ginsberg, and Sean Follmer. 2018. ShapeShift: 2D Spatial Manipulation and Self-Actuation of Tabletop Shape Displays for Tangible and Haptic Interaction. Association for Computing Machinery, New York, NY, USA, 1–13. https://doi.org/10.1145/3173574.3173865Google ScholarDigital Library
- Harshal A Sonar, Aaron P Gerratt, Stéphanie P Lacour, and Jamie Paik. 2020. Closed-loop haptic feedback control using a self-sensing soft pneumatic actuator skin. Soft robotics 7, 1 (2020), 22–29.Google Scholar
- Robert M. Strong and Donald E. Troxel. 1970. An Electrotactile Display. IEEE Transactions on Man-Machine Systems 11, 1 (1970), 72–79. https://doi.org/10.1109/TMMS.1970.299965Google ScholarCross Ref
- Linzhi Tang and Nae Yoon Lee. 2010. A facile route for irreversible bonding of plastic-PDMS hybrid microdevices at room temperature. Lab on a Chip 10, 10 (2010), 1274–1280.Google Scholar
- Quang Van Duong, Vinh Phu Nguyen, Fabrice Domingues Dos Santos, and Seung Tae Choi. 2019. Localized fretting-vibrotactile sensations for large-area displays. ACS applied materials & interfaces 11, 36 (2019), 33292–33301.Google Scholar
- Siarhei Vishniakou, Brian W Lewis, Xiaofan Niu, Alireza Kargar, Ke Sun, Michael Kalajian, Namseok Park, Muchuan Yang, Yi Jing, Paul Brochu, 2013. Tactile feedback display with spatial and temporal resolutions. Scientific reports 3, 1 (2013), 1–7.Google Scholar
- Xingrui Wang, Shane K Mitchell, Ellen H Rumley, Philipp Rothemund, and Christoph Keplinger. 2020. High-strain peano-HASEL actuators. Advanced Functional Materials 30, 7 (2020), 1908821.Google ScholarCross Ref
- Michael Wessely, Ticha Sethapakdi, Carlos Castillo, Jackson C. Snowden, Ollie Hanton, Isabel P. S. Qamar, Mike Fraser, Anne Roudaut, and Stefanie Mueller. 2020. Sprayable User Interfaces: Prototyping Large-Scale Interactive Surfaces with Sensors and Displays. Association for Computing Machinery, New York, NY, USA, 1–12. https://doi.org/10.1145/3313831.3376249Google ScholarDigital Library
- Michael Wiertlewski, José Lozada, and Vincent Hayward. 2011. The Spatial Spectrum of Tangential Skin Displacement Can Encode Tactual Texture. IEEE Transactions on Robotics 27, 3 (2011), 461–472. https://doi.org/10.1109/TRO.2011.2132830Google ScholarDigital Library
- Laura Winfield, John Glassmire, J. Edward Colgate, and Michael Peshkin. 2007. T-PaD: Tactile Pattern Display through Variable Friction Reduction. In Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC’07). 421–426. https://doi.org/10.1109/WHC.2007.105Google ScholarDigital Library
- Tae-Heon Yang, Hyungki Son, Sangkyu Byeon, Hyunjae Gil, Inwook Hwang, Gwanghyun Jo, Seungmoon Choi, Sang-Youn Kim, and Jin Ryong Kim. 2021. Magnetorheological Fluid Haptic Shoes for Walking in VR. IEEE Transactions on Haptics 14, 1 (2021), 83–94. https://doi.org/10.1109/TOH.2020.3017099Google ScholarCross Ref
- Yongjae Yoo, Taekbeom Yoo, Jihyun Kong, and Seungmoon Choi. 2015. Emotional responses of tactile icons: Effects of amplitude, frequency, duration, and envelope. In 2015 IEEE World Haptics Conference (WHC). 235–240. https://doi.org/10.1109/WHC.2015.7177719Google Scholar
- Sang Ho Yoon, Siyuan Ma, Woo Suk Lee, Shantanu Thakurdesai, Di Sun, Flávio P. Ribeiro, and James D. Holbery. 2019. HapSense: A Soft Haptic I/O Device with Uninterrupted Dual Functionalities of Force Sensing and Vibrotactile Actuation. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology (New Orleans, LA, USA) (UIST ’19). Association for Computing Machinery, New York, NY, USA, 949–961. https://doi.org/10.1145/3332165.3347888Google ScholarDigital Library
- Sang Ho Yoon, Siyuan Ma, Woo Suk Lee, Shantanu Thakurdesai, Di Sun, Flávio P Ribeiro, and James D Holbery. 2019. HapSense: A soft haptic I/O device with uninterrupted dual functionalities of force sensing and vibrotactile actuation. In Proceedings of the 32nd Annual ACM Symposium on User Interface Software and Technology. 949–961.Google ScholarDigital Library
- Xinge Yu, Zhaoqian Xie, Yang Yu, Jungyup Lee, Abraham Vazquez-Guardado, Haiwen Luan, Jasper Ruban, Xin Ning, Aadeel Akhtar, Dengfeng Li, 2019. Skin-integrated wireless haptic interfaces for virtual and augmented reality. Nature 575, 7783 (2019), 473–479.Google Scholar
- Yichen Zhai, Zhijian Wang, Kye-Si Kwon, Shengqiang Cai, Darren J Lipomi, and Tse Nga Ng. 2021. Printing Multi-Material Organic Haptic Actuators. Advanced Materials 33, 19 (2021), 2002541.Google ScholarCross Ref
- Yang Zhang and Chris Harrison. 2018. Pulp Nonfiction: Low-Cost Touch Tracking for Paper. Association for Computing Machinery, New York, NY, USA, 1–11. https://doi.org/10.1145/3173574.3173691Google ScholarDigital Library
- Yang Zhang, Chouchang (Jack) Yang, Scott E. Hudson, Chris Harrison, and Alanson Sample. 2018. Wall++: Room-Scale Interactive and Context-Aware Sensing. Association for Computing Machinery, New York, NY, USA, 1–15. https://doi.org/10.1145/3173574.3173847Google ScholarDigital Library
Index Terms
- HapTag: A Compact Actuator for Rendering Push-Button Tactility on Soft Surfaces
Recommendations
Press'Em: Simulating Varying Button Tactility via FDVV Models
CHI EA '20: Extended Abstracts of the 2020 CHI Conference on Human Factors in Computing SystemsPush-buttons provide rich haptic feedback during a press via mechanical structures. While different buttons have varying haptic qualities, few works have attempted to dynamically render such tactility, which limits designers from freely exploring buttons'...
Button Simulation and Design via FDVV Models
CHI '20: Proceedings of the 2020 CHI Conference on Human Factors in Computing SystemsDesigning a push-button with desired sensation and performance is challenging because the mechanical construction must have the right response characteristics. Physical simulation of a button's force-displacement (FD) response has been studied to ...
Haptic Mouse Interface Actuated by an Electromagnet
CISIS '11: Proceedings of the 2011 International Conference on Complex, Intelligent, and Software Intensive SystemsIn this paper, we propose a hap tic feedback mouse that is actuated by an electromagnet. The hap tic mouse works like a normal optical mouse but attraction force is generated between the electromagnet and a ferromagnetic mouse pad. We introduce some ...
Comments