Shape-A-Getti: A haptic device for getting multiple shapes using a simple actuator

Evaluating Visual-Spatiotemporal Co-Registration of a Physics-Based Virtual Reality Haptic Interface

“…For instance, many studies have developed various shapechanging interfaces aimed at dynamically adjusting the material properties of virtual objects. These include tabletop devices Shape-A-Getti [15], a graspable haptic device capable of rapidly transitioning between various radially symmetrical shapes using a single actuator, Laina [16], a 2.5D shape-changing display, and Materiable [14], a pin-based shape display that can generate computationally adjustable attributes for deformable materials of virtual objects. In addition, several portable devices have been developed, such as HairTouch [17], which employs a pin-based structure and hairs' properties to convey the shape, stiffness, and roughness of virtual objects to a user's index finger, PoCoPo [18], a portable device capable of instantly rendering diverse 2.5D shapes and simulating skin contact sensation on the user's palm and fingers, and a humantriggered haptic device utilizing curved origami [19], which enables users to actively perceive objects with variable stiffness, spanning from soft to hard.…”

“…In addition, several portable devices have been developed, such as HairTouch [17], which employs a pin-based structure and hairs' properties to convey the shape, stiffness, and roughness of virtual objects to a user's index finger, PoCoPo [18], a portable device capable of instantly rendering diverse 2.5D shapes and simulating skin contact sensation on the user's palm and fingers, and a humantriggered haptic device utilizing curved origami [19], which enables users to actively perceive objects with variable stiffness, spanning from soft to hard. These devices typically face limitations such as the absence of rotational resistive force generation [14], [16], [17], [18], restricted mobility [14], [15], [16], incapacity to meet high force demands [14], [15], [16], [17], [19], complexity [16], [18], and large latency [14], [16].…”

“…Over the past decade, the uses of various haptic devices were observed to simulate cutaneous and kinesthetic haptic interactions. For example, touchable pin-based shape-changing interfaces [14], [15], [16], [17], [18], [19] and wearable tactile devices [20], [21], [22], [23] have been developed to provide cutaneous haptic interactions (or feedback) in VR systems. Wand-based controllers [24], [25], [26], [27] and wearable devices with vibrotactile feedback [28], [29], [30] have been developed to provide kinesthetic haptic interaction in VR systems.…”