3-d printable multi-degrees-of-freedom haptic interfaces for stimulating skin strech, pressure and vibrotactile feedback on a user's body
Inventors
Zhakypov, Zhenishbek • Okamura, Allison M.
Assignees
Leland Stanford Junior University
Publication Number
US-12315362-B2
Publication Date
2025-05-27
Expiration Date
2043-02-14
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Abstract
A fully 3-D printed, soft, monolithic 4-DoF fingertip haptic technology is provided, called FingerPrint, that stimulates linear and rotational shear, pressure, and vibration on the finger pad. Constructed using an origami waterbomb base mechanism and printed from a flexible material, the device embeds four sets of eight foldable vacuum-powered pneumatic actuators to achieve three translational (x, y, z) and one rotational (torsion) tactile motions and forces of a tactor end-effector on the finger pad skin.
Core Innovation
The invention provides a fully 3-D printed, soft, monolithic fingertip haptic device called FingerPrint, which enables 4 degrees of freedom (DoF) for tactile feedback: three translational (x, y, z) and one rotational (torsion) motions. The device utilizes an origami waterbomb base mechanism constructed from a flexible material, embedding four sets of eight foldable vacuum-powered pneumatic actuators. These actuators create skin deformation in the form of linear and rotational shear, pressure, and vibration on the finger pad via a tactor end-effector.
The problem addressed is that current wearable fingertip haptic devices are limited in their ability to create realistic and complex touch experiences for virtual, augmented, and mixed reality environments. Conventional devices rely on complex mechanical arrangements and bulky components, making miniaturization, manufacturing, and assembly difficult. These devices often offer only simple vibrational feedback, insufficiently replicating the broad range of tactile sensations needed for immersive interactions, reducing their versatility and increasing cost and complexity.
This invention achieves functional advancements by leveraging additive manufacturing and origami-inspired design. The monolithic 3-D printed structure includes foldable flexure hinges, polygon-shaped facets, embedded fluidic channels, and a soft thimble for gentle finger interface. Its actuation is pneumatic, using either vacuum or air pressure, and is scalable to different body parts and applications. This integration allows for the simultaneous production of the entire device with minimal assembly, facilitating scalable, customizable tactile feedback beyond the fingertip, including the wrist, arm, legs, trunk, or face.
Claims Coverage
There are two independent claims covering core inventive features: a method of generating haptic feedback with a monolithic 3-D printed device, and a method of printing such a device.
Method of generating haptic feedback using a monolithic 3-D printed device
A haptic feedback method that utilizes a monolithically three-dimensionally printed haptic device, which comprises: - A plurality of foldable actuators, each being a sealed chamber formed by polygon-shaped facets connected via foldable flexure hinges. - A tactor (tactile stimulator element) positioned for physical interaction with each foldable actuator. - Actuation of one or more foldable actuators, producing shape changes that result in motion of the tactor for haptic feedback.
Method of printing a haptic device with integrated actuators and tactor
A method comprising the steps of: 1. Having a model of the haptic device. 2. Monolithically printing the device as a three-dimensionally printed structure that includes: - Multiple foldable actuators, each a sealed chamber formed by polygon-shaped facets and foldable flexure hinges. - A tactor positioned for interaction with each actuator. - Embedded channels and ports for actuator actuation, such that actuation changes the actuator shape to produce tactor motion for haptic feedback.
The inventive features center on a fully 3-D printed, monolithic design incorporating origami-inspired foldable actuators and an integrated tactor to provide advanced, multi-degree-of-freedom haptic feedback, along with the method for printing such a device as a single structure.
Stated Advantages
Provides a high number of tactile stimulations and enables varied haptic feedback, including linear and rotational shear, pressure, and vibration.
Offers high and variable output force and motion range for more versatile and compelling tactile feedback.
Enables the entire complex device to be 3-D printed monolithically with minimal assembly effort.
Allows scalability and customizability of the device, making it adaptable for different applications and body parts.
Documented Applications
Creates opportunities for use in consumer-oriented, medical, and research applications requiring a wide range of tactile and physical stimulation.
Applicable in virtual, augmented, and mixed reality environments or Metaverse for complex haptic interactions.
Enables professional training applications for skilled workers and surgeons by providing realistic tactile feedback.
Facilitates interaction with multi-dimensional digital models and designs.
Supports gaming, entertainment, and online shopping by allowing users to feel the physical characteristics of commercial goods.
Provides medical rehabilitation applications, such as physical and occupational therapy for patients with injuries or conditions like stroke or facial palsy, by supporting sensory-reeducation and neuromuscular retraining.
Serves as a platform for conducting haptic studies in virtual and augmented environments, tactile perception research, neuroscience, and medical rehabilitation studies.
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