Haptic shape displays provide compelling touch interactions by allowing users to freely explore a rendered surface. However, these displays are currently limited to 2.5-D surfaces due to the space requirements of their actuation. Building on previous work in haptic jamming, we developed a novel, soft 3-D shape display. A fully 3-D display that a user can grasp and hold allows for improved interactions for applications such as medical palpation training and virtual reality experiences. The shape display is implemented as an inflatable silicone membrane with embedded particle jamming cells that change stiffness and soft pneumatic actuators that control the distance between points on the surface. The device was modeled as a mass-spring system, and this model is used to develop a control sequence for a device to match a target shape. Due to constraints in actuation imposed by the 3-D geometry of the device, we developed an automatic design algorithm for the display, so that a display can be custom-designed to reach a set of target shapes using a relatively small number of actuators.

中文翻译：

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基于模型的软 3D 触觉形状显示器设计

触觉形状显示器允许用户自由探索渲染表面，从而提供引人注目的触摸交互。然而，由于其驱动的空间要求，这些显示器目前仅限于 2.5-D 表面。基于之前在触觉干扰方面的工作，我们开发了一种新颖的、柔软的 3D 形状显示器。用户可以抓握的全 3D 显示器可以改善医疗触诊训练和虚拟现实体验等应用的交互。形状显示器作为可膨胀的硅胶膜实现，其中嵌入了改变刚度的粒子干扰细胞和控制表面上点之间距离的软气动执行器。该设备被建模为质量弹簧系统，该模型用于开发设备的控制序列以匹配目标形状。