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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
Interaction with Skin
• People have long made use of their skin to
communicate intentions and emotions to each
other via touching.
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
A Thin Stretchable Interface for Tangential Force Measurement (UIST 2012)
Using this, we can...
• Enable more natural communication with
computer systems.
– Adding skin for robots
– New game controller
– Sensing body movement
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
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
Components of the Interface
• Thin stretchable material such as stocking
• Using photoreflector that consist of
– Infra-red LED
– Phototransistor
Phototransistor
Infra-red LED
PhotoreflectorStocking
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.
A Thin Stretchable Interface for Tangential Force Measurement (UIST 2012)
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
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
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
Small Sensor Module
• One photoreflector
• Battery and
Microcontroller are
embedded.
• Coin size
• Wireless
Li-Po Battery (50mA)
Battery
Connector
Photoreflector
Microcontroller
Bluetooth
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
Multi-sensor System that
Determines the Tangential Forces
Tangential force
Pinch-in
Pinch-out
• Multiple photoreflectors are placed under the
material.
Combination with Conventional
Pressure Sensors
• Detecting normal force and tangential
forces
On pressure sensor array On FuwaFuwa sensor
[Sugiura 2011]
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
Smart Phone – Flat Type
• Normal touch (Capacitive sense) → Location of object
• Pressure (Skin Interface) → Rotation of object
Smart Phone – Curved Type
• Curved type supports pinching dragging, and
releasing gestures.
Audio Control
• Volume and channel are controlled.
Robot Skin
• Eyes look towards the dragging direction.
• Robot become happy with the pinching action.
Simple Breathing Sensor
• It measures the stretch of a belt placed around
chest.
Other Possible Applications
• As a chair cloth
– Detecting the posture of sitting,
especially slipping
• Sensing muscle movement and
edema
– Continuous human body monitoring
Limitations
• Affected by ambient light such as
sunlight.
• Affected by the user’s hand or
other object.
• Durability of thin material
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]
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

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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