Prototyping robot appearance, movement, and interactions using flexible 3D printing and air pressure sensors

Slyper, Ronit; Hodgins, Jessica K.

doi:10.1109/roman.2012.6343723

Cited by 37 publications

(20 citation statements)

References 21 publications

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“…Slyper et al [17] explored pneumatically sensed interactive objects based on 3D printed hollow air chambers, similar to the ones that we fabricate. One of the main differences with our work, though, is that they used the chambers passively to prototype particular manipulation affordances on robot skins, rather than actively to provide haptic feedback or render computational states.…”

Section: D Printed Pneumaticsmentioning

confidence: 99%

“…One of the main differences with our work, though, is that they used the chambers passively to prototype particular manipulation affordances on robot skins, rather than actively to provide haptic feedback or render computational states. The air chambers in [17] are soft and have a hole for support material removal. This aperture is also used to sense changes in internal air pressure, which occur when users manipulate the chambers, e.g., by twisting or stretching.…”

Section: D Printed Pneumaticsmentioning

confidence: 99%

“…Another example are bending controls. Consider the bending building block of [17] for prototyping manipulation affordances on robot skins. If one prints a chamber with that shape, make it air-tight, and regulate pressure inside of it, then the chamber could be used for providing both user input and haptic feedback.…”

Section: Other Device Controlsmentioning

confidence: 99%

See 2 more Smart Citations

3D Printing Pneumatic Device Controls with Variable Activation Force Capabilities

Vázquez

Brockmeyer

Desai

et al. 2015

Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems

130

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A B C Figure 1. 3D printed pneumatic button (A), knob (B), and slider (C). We print these models with rigid and elastic materials, and in some cases add electronic components to the controls to sense user's input, such as potentiometers in the case of (B) and (C). Pressure sensing can be used to detect when users deform the elastic parts of the controls, like when they push the star. The graph behind this model shows the sensed pressure signal. We also use pressure to provide variable activation force capabilities. ABSTRACTWe explore 3D printing physical controls whose tactile response can be manipulated programmatically through pneumatic actuation. In particular, by manipulating the internal air pressure of various pneumatic elements, we can create mechanisms that require different levels of actuation force and can also change their shape. We introduce and discuss a series of example 3D printed pneumatic controls, which demonstrate the feasibility of our approach. This includes conventional controls, such as buttons, knobs and sliders, but also extends to domains such as toys and deformable interfaces. We describe the challenges that we faced and the methods that we used to overcome some of the limitations of current 3D printing technology. We conclude with example applications and thoughts on future avenues of research.

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Section: D Printed Pneumaticsmentioning

confidence: 99%

Section: D Printed Pneumaticsmentioning

confidence: 99%

See 1 more Smart Citation

3D Printing Pneumatic Device Controls with Variable Activation Force Capabilities

Vázquez

Brockmeyer

Desai

et al. 2015

Proceedings of the 33rd Annual ACM Conference on Human Factors in Computing Systems

130

View full text Add to dashboard Cite

show abstract

“…Printed Optics [30] uses light pipes to create integrated displays and senses input optically through components added at print time, while Slyper et al, [26] fabricate flexible robot armatures capable of sensing interaction via changes in air pressure. Our work is inspired by these projects, and contributes a general design tool for modelling objects that can have such capabilities.…”

Section: Fabrication Of Interactive Devicesmentioning

confidence: 99%

“…They have introduced techniques such as printed light pipes [30] and printed hollow chambers for air pressure sensing [26]. These projects introduce point examples of particular techniques.…”

Section: Introductionmentioning

confidence: 99%

A series of tubes

Savage

Schmidt

Grossman

et al. 2014

Proceedings of the 27th Annual ACM Symposium on User Interface Software and Technology

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Figure 1. A collection of interactive objects designed using our tool. All have electronic sensing or actuation components routed through their interior. Left: a radio, haptic feedback rabbit, maze, and presence-aware pen holder. Center: touch-sensitive toys. Right: custom neon signs. ABSTRACT3D printers offer extraordinary flexibility for prototyping the shape and mechanical function of objects. We investigate how 3D models can be modified to facilitate the creation of interactive objects offering dynamic input and output. We introduce a general technique to support rapidly prototyping interactivity by removing interior material from 3D models to form internal pipes. We describe the design space of pipes for interaction design, where variables include openings, path constraints, topologies, and inserted media. We then present PipeDream, a tool for routing internal pipes through 3D models, integrated within a 3D modeling program. We use two distinct routing algorithms. The first has users define pipes' terminals and uses path routing and physics-based simulation to minimize pipe bending energy, allowing easy insertion of media post-print. The second lets users supply a desired internal shape to which it fits a pipe route: for this we describe a graph-routing algorithm. We present prototypes created using our tool showing its flexibility and potential.

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