2017 Poster Sessions : Model-Based Design of a 3D Haptic Shape Display

Student Name : Margaret Koehler
Advisor : None
Research Areas: Artificial Intelligence
A haptic shape display is a physical device that changes shape to render different haptic environments. Shape displays can produce compelling interactions by providing both kinesthetic and cutaneous feedback while allowing the user to freely explore the environment. We designed a novel 3D shape display using actuation techniques common to soft robotics, such as pneumatics and particle jamming, which allow for significant shape change. However, these soft haptic systems present unique challenges in modeling and control, so we developed a computational model-based design algorithm for the display. This soft haptic shape display could be used for medical training simulators or virtual reality applications.

Margaret Koehler is a Ph.D. candidate in Mechanical Engineering at Stanford University. She is advised by Prof. Allison Okamura in the Collaborative Haptics and Robotics in Medicine Lab. Her research interests include robotics, haptics, and medical devices, and she is currently supported by a National Science Foundation Graduate Research Fellowship. Margaret received both the B.S. and M.S. degrees in Mechanical Engineering also from Stanford University in 2014 and 2016, respectively.