论文标题
指纹：带有嵌入式驱动的3-D打印的软性4度指尖触觉装置
FingerPrint: A 3-D Printed Soft Monolithic 4-Degree-of-Freedom Fingertip Haptic Device with Embedded Actuation
论文作者
论文摘要
可穿戴的指尖触觉接口通过施加皮肤压力，线性和旋转剪切和振动来在指尖上提供触觉刺激。由于小型化，多功能性和制造性之间的权衡，设计和制造紧凑，多度自由度和强大的指尖触觉界面是具有挑战性的。缩小产生高扭矩的电磁致动器是不可行的，整合多个执行器，链路，接头和传输元件会增加设备的大小和重量。 3-D打印可以快速生产大批量的最少组装的复杂设备。但是，它需要仔细布置材料特性，几何形状，比例和打印机功能。在这里，我们提出了一个完全3-D打印的，柔软的，整体的指尖触觉装置，基于折纸图案，称为“水炸弹”底座，它嵌入了可折叠真空致动，并在指尖上产生4-DOF运动，并具有可调的触觉力（最高1.3 N N剪切力和7 n n normun and 7 n Normal）和扭矩（最大25 n-n-mm）。包括顶针安装在内，紧凑的设备长40毫米，宽20毫米。这证明了折纸设计和软材料3D打印的功效，用于设计和迅速制造微型但可穿戴复杂的可穿戴机制，具有适合触觉相互作用的力输出。
Wearable fingertip haptic interfaces provide tactile stimuli on the fingerpads by applying skin pressure, linear and rotational shear, and vibration. Designing and fabricating a compact, multi-degree-of-freedom, and forceful fingertip haptic interface is challenging due to trade-offs among miniaturization, multifunctionality, and manufacturability. Downsizing electromagnetic actuators that produce high torques is infeasible, and integrating multiple actuators, links, joints, and transmission elements increases device size and weight. 3-D printing enables rapid manufacturing of complex devices with minimal assembly in large batches. However, it requires a careful arrangement of material properties, geometry, scale, and printer capabilities. Here we present a fully 3-D printed, soft, monolithic fingertip haptic device based on an origami pattern known as the "waterbomb" base that embeds foldable vacuum actuation and produces 4-DoF of motion on the fingerpad with tunable haptic forces (up to 1.3 N shear and 7 N normal) and torque (up to 25 N-mm). Including the thimble mounting, the compact device is 40 mm long and 20 mm wide. This demonstrates the efficacy of origami design and soft material 3D printing for designing and rapidly fabricating miniature yet complex wearable mechanisms with force output appropriate for haptic interaction.
