A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback

TL;DR

This paper introduces a novel origami-based 4-DoF haptic device that provides comprehensive tactile feedback including normal, shear, and torsion forces, suitable for virtual reality applications.

Contribution

The paper presents a compact, low-cost, origami-fabricated parallel mechanism capable of delivering multi-DoF haptic feedback with characterized workspace and force output.

Findings

Operates within a 0.64cm³ workspace with ±30° rotation.

Maximum forces: ±1.5N in x and y, 2N in z, 5N·mm in torsion.

Bandwidth of 9Hz for haptic feedback.

Abstract

We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication are not well suited for designing small robotic devices because it is challenging and expensive to manufacture small, low-friction joints. Our device uses origami manufacturing principles to reduce complexity and the device footprint. We characterize the bandwidth, workspace, and force output of the device. The capabilities of the torsion-DoF are demonstrated in a virtual reality scenario. Our results show that the device can deliver haptic feedback in 4-DoFs with an effective operational workspace of 0.64cm$^3$ with $\pm 30 ^ \circ$ rotation at every location. The maximum forces and torques the device can apply in the x-, y-, z-, and $\theta$-directions, are $\pm$1.5N, $\pm$1.5N, 2N, and 5N$\cdot$mm, respectively, and the device has an operating bandwidth of 9Hz.