The present study investigates a film actuator made with dielectric cellulose acetate films separated by narrow spacers as a means of electrostatic actuation for potential haptic application. Fabrication process for the actuator is explained along with experiments conducted over a wide frequency range of actuation frequency. A valid finite element simulation of the actuator is made on the quarter section of the actuator by using full 3D finite elements. Vibration characteristics such as fundamental natural frequency, mode shape and output velocity in the frequency range for haptic feeling generation are obtained from the finite element analysis and compared with the experimental results. Experimental results demonstrate that the finite element model is practical and effective enough in predicting the vibration characteristics of the actuator for haptic application. The film actuator shows many promising properties like high transparency, wide range of actuation frequency and high vibration velocity for instance.
KajimotoHKawakamiNTachiS. SmartTouch: electric skin to touch the untouchable. IEEE Comput Graphics Appl2004; 24: 36–43.
2.
King HH, Donlin R and Hannaford B. Perceptual thresholds for single vs. multi-finger haptic interaction. In: IEEE haptic symposium, Waltham, USA, 25–26 March 2010, pp.95–99. New York: IEEE.
3.
Wagner CR, Lederman SJ and Howe RD. A tactile shape display using RC servo-motor. In: Proceedings of the 10th symposium on haptic interfaces for virtual environment and teleoperator systems, Orlando, USA, 24–25 March 2002, pp.354–355. New York: IEEE.
4.
SummersIRChanterCM. A broadband tactile array on the fingertip. J Acoust Soc Am2002; 112: 2118–2126.
5.
Nakamura M and Jones L. An actuator for the tactile vest – a torso-based haptic device. In: Proceedings of the 11th symposium on haptic interfaces for virtual environment and teleoperator systems, Los Angeles, USA, 22–23 March 2003, pp.333–339. New York: IEEE.
6.
Nara T, Takasaki M and Maeda T. Surface acoustic wave (saw) tactile display based on properties of mechanoreceptors. In: Proceedings of the virtual reality conference, Yokohama, Japan, 13–17 Mar 2001, pp.13–20. New York: IEEE.
7.
Carter T, Seah SA and Long B. UltraHaptics: multi-point mid-air haptic feedback for touch surfaces. In: Proceedings of the 26th annual ACM symposium on User interface software and technology, St Andrews, United Kingdom, 8–11 October 2013, pp.505–514. New York: ACM.
8.
KleinDRensinkDFreimuthH. Modelling the response of a tactile array using electrorheological fluids. J Phys D Appl Phys2004; 37: 794–803.
9.
LiuYDavidsonRITaylorPM. Single cell magnetorheological fluid based tactile display. Displays2005; 26: 29–35.
10.
Bar-Cohen Y. EAP history, current status, and infrastructure. In: Bar-Cohen Y. (ed.) Electroactive polymer (EAP) actuators as artificial muscles; reality, potential, and challenges. 2nd ed. Washington: SPIE Press, 2004, pp.3–50.
11.
Choi HR, Lee SW and Jung KM. Tactile display as a braille display for the visually disabled. In: Proceedings of the IEEE/RSJ/GI international conference on intelligent robots and systems, Sendai, Japan, 28 September–2 October 2004, pp.1985–1990. New York: IEEE.
12.
KooIMJungKMKooJC. Development of soft-actuator-based wearable tactile display. IEEE Trans Rob2008; 24: 549–558.
13.
ChakrabortiPToprakciHAKYangP. A compact dielectric elastomer tubular actuator for refreshable Braille displays. Sensor Actuat A-Phys2012; 179: 151–157.
KlemmDHeubleinBFinkH-P. Cellulose: fascinating biopolymer and sustainable raw material. Angew Chem (Int Ed.)2005; 44: 3358–3393.
16.
KimJYunSOunaiesZ. Discovery of cellulose as a smart material. Macromolecules2006; 39: 4202–4206.
17.
KimJSeoYB. Electro-active paper actuators. Smart Mater Struct2002; 11: 355–360.
18.
KimJYunSMahadevaSK. Paper actuators made with cellulose and hybrid materials. Sensors2010; 10: 1473–1485.
19.
YunG-YKimJKimJ-H. Fabrication and testing of cellulose EAPap actuators for haptic application. Sensor Actuat A-Phys2010; 164: 68–73.
20.
Kim D-G, Kim S-Y and Kim K-B, et al. A film-type haptic actuator for mobile devices. In: Proceedings of SPIE on nanosensors, biosensors, and info-tech sensors and systems, San Diego, USA, 12–15 March 2012, paper no. 83440 V. Washington: SPIE.
21.
Mohiuddin M, Kim H-C and Kim SY, et al. Transparent and flexible haptic array actuator made with cellulose acetate for tactile sensation. In: Proceedings of SPIE on nanosensors, biosensors, and info-tech sensors and systems, San Diego, USA, 10–12 March 2014, paper no. 906017. Washington: SPIE.
22.
PurvesDAugustineGJFitzpatrickD. Neuroscience, 3 rd ed. Sunderland: Sinauer Associates Inc. Publishers, 2004, pp. 192–192.
23.
QinYShirinzadehBTianY. Design issues in a decoupled XY stage: static and dynamics modeling, hysteresis compensation, and tracking control. Sensor Actuat A-Phys2013; 149: 95–105.
24.
TianYZhangDShirinzadehB. Dynamic modelling of a flexure-based mechanism for ultra-precision grinding operation. Precis Eng2011; 35: 554–565.
25.
BeardsCF. Engineering vibration analysis with application to control systems, 1st ed. Bristol: Butterworth-Heinemann, 1995, pp. 63–63.
26.
KimS-YKimJKimK-B. Investigation of size effect on film type haptic actuator made with cellulose acetate. Smart Mater Struct2014; 23. 045016(1-6).
27.
Mazzone A, Zhang R and Kunz A. Novel actuators for haptic displays based on electroactive polymers In: Proceedings of the 10th ACM symposium on Virtual reality software and technology, Osaka, Japan, 1–3 October 2003, pp.196–204. New York: ACM.
28.
PawlukDTVHoweRD. Dynamic lumped element response of the human fingerpad. J Biomech Eng1999; 121: 178–183.
29.
Watanabe Y, Makino Y, Sato K, et al. Contact force and finger angles estimation for touch panel by detecting transmitted light on fingernail. In: Isokoski P and Springare J (eds) Haptics: perception, devices, mobility, and communication. Tampere: Springer, 2012, pp.601–612.
30.
MascaroSA. Measurement of finger posture and three-axis fingertip touch force using fingernail sensors. IEEE T Robotic Autom2004; 20: 26–35.
31.
Sun Y, Hollerbach JM and Mascaro SA. Measuring fingertip forces by imaging the fingernail. In: Proceedings of the 14th symposium on haptic interfaces for virtual environment and teleoperator systems, Alexandria, USA, 25–26 March 2006, pp.125–131. New York: IEEE.
