Haptic strip based on modular independent actuators for virtual shapes rendering

This paper presents a new concept of a desktop haptic shape display that allows rendering and exploring virtual surfaces. Such device allows continuous and free hand contact on a developable plastic strip that is actuated by a modular handling system. Each module is based on an absolute positioning approach, which allows controlling the represented trajectory, thus overcoming the limits of relative handling systems. The developed system is able to manage the elastic behaviour of the strip in terms of bending, twisting and local curvature control. The latter allows us to handle the local tangency of the strip to the rendered trajectory. The absolute approach allows configuring the system with a variable number of modules, so as to customize it according to the application needs.