Hybrid 3D Printed Haptic Devices with Sensing and Feedback capabilities

This work consists in creating an intuitive hybrid 3D printing fabrication strategy for rapid prototyping soft and stretchable haptic devices on-demand. The functional electronic device shown above was created using the electronic schematic developed using the Trace Maker. The schematics are then fed into custom python code to translate them into hybrid 3D printing commands which combines direct ink writing with automoated pick and place to fabricate the devices. This work resulted in two devices, one haptic input device, and one haptic output device. The haptic input device (Shown above to the left) posseses four pressure-sensitive sensors capable of accurately mapping the user touch input by location and magnitude (Pressure). The haptic output device (Shown above to the right) posseses four vibrating motors capable of mapping the touch input from the sensing device to vibrotactile feedback that is proportional to the applied pressure. Both devices use a microcontroller to manage signals. Each device is equipped with a power and communication board to enable wireless communication and untethered operation. Examples of an immersive haptic experience between two users wearing the haptic input device and the haptic output device is shown below. 

Sánchez Cruz, R. E, Zharylkassyn, B., Morales Ferrer, J. M., & Boley, J. W. (2024). A computer integrated design and manufacturing approach for rapid prototyping liquid metal based human-in-the-loop soft and stretchable haptic displays. Manuscript in preparation.