A Shape-changing Haptic Interface with programmable Rigidity and Size: Change of Volume

Demonstration of the change of volume with Volflex++.

Volflex++ is a shape-changing haptic interface that can generate the physical characteristics, such as shape and rigidity, of virtual objects using an array of newly developed non-expandable balloons. To alter the rigidity of each non-expandable balloon, the volume of air in it is controlled through a linear actuator and a pressure sensor based on Hooke’s law. Furthermore, to change the volume of each balloon, its exposed surface area is controlled by using another linear actuator with a trumpet-shaped tube. A position control mechanism is constructed to display virtual objects using the balloons. The 3D position of each balloon is controlled using a flexible tube and a string.

Voflex++ aims to show that soft robotic structures with controllable materiality and shape-change can be combined with Virtual Reality to create new physical-virtual objects.



The Volflex technology was developed at the Virtual Reality Lab of the University of Tsukuba (JP).

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