A Thin Stretchable Interface for Tangential Force Measurement (UIST 2012)
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1) The document describes a thin, stretchable interface using photoreflectors that can measure tangential forces like human skin. 2) It consists of a thin stretchable material instrumented with infrared LEDs and phototransistors to measure stretch. 3) The interface can be used to add skin-like sensing to various objects like smartphones, robots, and furniture to enable new types of natural interactions.
![Comparison of Sensing Methods
• Strain gauge
– The soft properties is changed.
• Image based sensing [Soap, Baudish 2007]
– Measuring the material’s relative translational
displacement
• Photoreflector (Our approach)
– Measuring the density of material
– Thin
– Low-cost and easily fabrication](https://image.slidesharecdn.com/uist2012-final-201018072133/85/A-Thin-Stretchable-Interface-for-Tangential-Force-Measurement-UIST-2012-11-320.jpg)
![Combination with Conventional
Pressure Sensors
• Detecting normal force and tangential
forces
On pressure sensor array On FuwaFuwa sensor
[Sugiura 2011]](https://image.slidesharecdn.com/uist2012-final-201018072133/85/A-Thin-Stretchable-Interface-for-Tangential-Force-Measurement-UIST-2012-17-320.jpg)
![Related Research
Sheer Gesture,
[Harrison 2012]
Robot Skin,
[Ohmura 2006]
Force Gesture,
[Heo 2011]
Khronos Projector,
[Cassinelli 2005]
GelForce,
[Kamiyama 2006]
rSkin,
[Perner-Wilson 2010]](https://image.slidesharecdn.com/uist2012-final-201018072133/85/A-Thin-Stretchable-Interface-for-Tangential-Force-Measurement-UIST-2012-26-320.jpg)
A Thin Stretchable Interface for Tangential Force Measurement (UIST 2012)
- 1. A Thin Stretchable Interface for Tangential Force Measurement Keio University1 / The University of Tokyo2 JST ERATO IGARASHI Design Interface Project3 Yuta Sugiura1,3, Masahiko Inami1,3 and Takeo Igarashi2,3
- 2. Interaction with Skin • People have long made use of their skin to communicate intentions and emotions to each other via touching.
- 3. Skin-like Interface • Our interface is – thin, stretchable, simple configuration and provide natural haptic feedback like a skin. • It gives the ability of skin to daily objects externally. Smart phone Home appliance Furniture Robot
- 5. Using this, we can... • Enable more natural communication with computer systems. – Adding skin for robots – New game controller – Sensing body movement
- 6. Highlights 1) Measurement of stretch of thin materials using photoreflectors 2) Packaged small sensor module 3) Multi-sensor system that determines the tangential forces 4) Example applications
- 7. Highlights 1) Measurement of stretch of thin materials using photoreflectors 2) Packaged small sensor module 3) Multi-sensor system that determines the tangential forces 4) Example applications
- 8. Components of the Interface • Thin stretchable material such as stocking • Using photoreflector that consist of – Infra-red LED – Phototransistor Phototransistor Infra-red LED PhotoreflectorStocking
- 9. Photoreflector Stocking Emitted Light Reflected Light Normal condition Material is stretched Measuring Stretch of Stocking Transmissivity Light • Emitted light pass through the material when the material is stretched.
- 11. Comparison of Sensing Methods • Strain gauge – The soft properties is changed. • Image based sensing [Soap, Baudish 2007] – Measuring the material’s relative translational displacement • Photoreflector (Our approach) – Measuring the density of material – Thin – Low-cost and easily fabrication
- 12. Measurement Experiment • 20 denier stocking • Pull the stocking by 2mm each time • Release the stocking • Measuring 30 times to check the hysteresis Digital Force GaugePhotoreflector Stocking
- 13. Highlights 1) Measurement of stretch of thin materials using photoreflectors 2) Packaged small sensor module 3) Multi-sensor system that determines the tangential forces 4) Example applications
- 14. Small Sensor Module • One photoreflector • Battery and Microcontroller are embedded. • Coin size • Wireless Li-Po Battery (50mA) Battery Connector Photoreflector Microcontroller Bluetooth
- 15. Highlights 1) Measurement of stretch of thin materials using photoreflectors 2) Packaged small sensor module 3) Multi-sensor system that determines the tangential forces 4) Example applications
- 16. Multi-sensor System that Determines the Tangential Forces Tangential force Pinch-in Pinch-out • Multiple photoreflectors are placed under the material.
- 17. Combination with Conventional Pressure Sensors • Detecting normal force and tangential forces On pressure sensor array On FuwaFuwa sensor [Sugiura 2011]
- 18. Highlights 1) Measurement of stretch of thin materials using photoreflectors 2) Packaged small sensor module 3) Multi-sensor system that determines the tangential forces 4) Example applications
- 19. Smart Phone – Flat Type • Normal touch (Capacitive sense) → Location of object • Pressure (Skin Interface) → Rotation of object
- 20. Smart Phone – Curved Type • Curved type supports pinching dragging, and releasing gestures.
- 21. Audio Control • Volume and channel are controlled.
- 22. Robot Skin • Eyes look towards the dragging direction. • Robot become happy with the pinching action.
- 23. Simple Breathing Sensor • It measures the stretch of a belt placed around chest.
- 24. Other Possible Applications • As a chair cloth – Detecting the posture of sitting, especially slipping • Sensing muscle movement and edema – Continuous human body monitoring
- 25. Limitations • Affected by ambient light such as sunlight. • Affected by the user’s hand or other object. • Durability of thin material
- 26. Related Research Sheer Gesture, [Harrison 2012] Robot Skin, [Ohmura 2006] Force Gesture, [Heo 2011] Khronos Projector, [Cassinelli 2005] GelForce, [Kamiyama 2006] rSkin, [Perner-Wilson 2010]
- 27. Conclusion: Enabling Skin-like Properties in Daily Objects • Our interface is – thin, stretchable, simple configuration and provide natural haptic feedback like a skin. • Highlights 1) Measurement of stretch of thin materials using photoreflectors 2) Packaged sensor module 3) Multi-sensor system that determines the tangential forces 4) Example applications yuta.sugiura@gmail.com, http://sugiur.com