Multimodal Haptic Actuator for Independent Force and Contact Area
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Solution Overview
Problem
Existing haptic display devices fail to realistically replicate the softness of a target object due to their inability to independently control contact area and force, leading to inaccurate softness perception.
Innovation Solution
A multimodal haptic device that decouples cutaneous and kinesthetic cues by using an actuator with an adaptive region and a movable unit, controlled by a controller to adjust fluid pressures in real-time based on user interaction and target characteristics, ensuring accurate rendering of softness sensations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If existing haptic display devices control contact area and force together, then device structure is simplified, but softness perception accuracy deteriorates
Solution Approach 1:
The haptic display device is segmented into two independent control systems: one for controlling contact area (via adaptive region inflation/deflation) and another for controlling force (via actuator positioning). This segmentation allows independent optimization of each parameter, enabling accurate softness perception while maintaining manageable device complexity through modular architecture.
Solution Approach 2:
The device employs dynamic control where contact area and force are adjusted in real-time based on user interaction and target characteristics. The adaptive region dynamically changes its inflated state to modify contact area, while the actuator dynamically positions to control force, allowing the system to adapt to varying softness requirements without structural complexity increase.
2Adaptability or versatility
If haptic devices use fixed contact area, then device complexity is reduced, but adaptability to different softness levels deteriorates
Solution Approach 1:
The device changes the contact area parameter dynamically by inflating or deflating the adaptive region based on the softness level of the target being rendered. For softer targets, the adaptive region is inflated to increase contact area, while for harder targets, it is deflated to decrease contact area. This parameter change enables versatile softness rendering without requiring multiple fixed-configuration devices.
Solution Approach 2:
The adaptive region automatically adjusts its contact area in response to detected target characteristics and user interaction, eliminating the need for manual reconfiguration. The system self-regulates contact area based on real-time feedback, providing adaptability across different softness levels while keeping the control system relatively simple through automated adjustment.
3Manufacturing precision
If haptic devices couple force and contact area control, then ease of operation is improved, but rendering accuracy deteriorates
Solution Approach 1:
By segmenting the control into separate force control and contact area control systems, each system can be optimized for its specific function. The actuator focuses solely on force control while the adaptive region focuses on contact area adjustment, improving rendering precision. The segmented architecture maintains ease of operation through independent, specialized control mechanisms rather than a complex coupled system.
Solution Approach 2:
The controller acts as an intermediary that coordinates between the force control actuator and the contact area adaptive region. It receives target softness parameters and translates them into appropriate force and contact area settings, managing the complexity of coordinating two independent control systems while maintaining high rendering precision through centralized intelligent control.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device provides a highly realistic and personalized experience by accurately simulating softness perceptions, bridging the gap between actual softness and prior art devices, enhancing haptic technology and neuroscience research.
Implementation Method 1
said first actuation input corresponding to a first pressure of the inflatable-deflatable element suitable to change a shape of the actuator
Implementation Method 2
said second actuation input corresponding to a second force applied to the body part by the movable unit
Data Source
Figure 1a
Figure 1b'~1b'''
Figure 2a~2d
AI summary
It is disclosed a multimodal haptic device (1) for rendering cutaneous and kinesthetic tactile cues of a target, including -an actuator (2) intended to be contacted by a body part of a user; -a support movable unit (5) in operative connection with the actuator (2), to move the actuator (2) in one direction of a force (F) applied by the body part to the actuator (2) or in an opposite direction, -the actuator (2) includes a contact region (3), intended to receive said force (F) by the body part, and at least one adaptive region (4), arranged at least in part around the contact region (3) and substantially flat at rest; the device (1) further including a controller configured to -set a first actuation input for the actuator (2) to raise at least part of said adaptive region (4) with respect to the contact region (3), wherein, in use, the haptic softness tactile cue of the target is rendered by means of a surface of said at least part of the raised adaptive region (4) contacting the body part; -drive the support movable unit (5) to move the actuator (2) in said at least one direction or opposite direction, wherein, in use, the haptic kinesthetic tactile cue of the target is rendered by a force (F2) applied to the body part by the actuator (2) in said opposite direction.