AcoustoBots: A swarm of robots for acoustophoretic multimodal interactions
Narsimlu Kemsaram, James Hardwick, Jincheng Wang, Bonot Gautam, Ceylan Besevli, Giorgos Christopoulos, Sourabh Dogra, Lei Gao, Akin Delibasi, Diego Martinez Plasencia, Orestis Georgiou, Marianna Obrist, Ryuji Hirayama, Sriram Subramanian

TL;DR
This paper introduces AcoustoBots, a swarm of mobile robots equipped with reconfigurable phased arrays for versatile acoustophoretic multimodal interactions, expanding the application scope beyond static units.
Contribution
It presents a novel mobile acoustophoretic platform combining swarm robotics with reconfigurable transducer arrays for dynamic multimodal interactions.
Findings
Demonstrated scalable acoustic control with two robots.
Enabled diverse multimodal interactions including levitation, haptics, and sound.
Showcased potential for larger robotic swarms in acoustic applications.
Abstract
Acoustophoresis has enabled novel interaction capabilities, such as levitation, volumetric displays, mid-air haptic feedback, and directional sound generation, to open new forms of multimodal interactions. However, its traditional implementation as a singular static unit limits its dynamic range and application versatility. This paper introduces AcoustoBots - a novel convergence of acoustophoresis with a movable and reconfigurable phased array of transducers for enhanced application versatility. We mount a phased array of transducers on a swarm of robots to harness the benefits of multiple mobile acoustophoretic units. This offers a more flexible and interactive platform that enables a swarm of acoustophoretic multimodal interactions. Our novel AcoustoBots design includes a hinge actuation system that controls the orientation of the mounted phased array of transducers to achieve high…
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Taxonomy
TopicsTactile and Sensory Interactions · Microfluidic and Bio-sensing Technologies · Music Technology and Sound Studies
