VSTaI：基于3D打印结构化织物的变刚度触觉界面的设计与表征
VSTaI: Design and Characterization of Variable-Stiffness Tactile Interfaces Based on 3D-Printed Structured Fabrics
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中文总结 AI 辅助
本文设计了基于3D打印结构化织物真空阻塞的变刚度触觉界面VSTaI，经测试其刚度可调范围广、贴合性好，可用于触诊训练。
中文摘要 AI 辅助
真实的触诊训练需要实时可靠地渲染软组织的刚度变化，这是传统模拟器难以实现的。本文提出一种紧凑的变刚度触觉界面（VSTaI），其基于3D打印结构化织物的真空诱导阻塞效应。真空密封的织物层被夹在两层硅酮层之间，通过调节内部压力来调整刚度。制作了四种具有不同几何参数的织物图案，并在大气压和真空条件下通过力-压痕测试进行评估。在测试的图案和几何组合中，真空阻塞显著提高了刚度，使有效模量从亚兆帕级提升至兆帕级。具体而言，某一配置在阻塞状态下的刚度提升高达140%。圆形链甲图案提供了最均匀的触觉刚度空间分布，而更密集的几何结构达到了更高的峰值刚度。此外，VSTaI还表现出对下方几何形状的优异贴合性。这些结果表明，结构化织物阻塞是一种实用方法，可用于制造适用于体检训练的形状贴合、刚度可调的显示装置。
英文摘要
Realistic palpation training requires reliable rendering of soft tissue stiffness changes in real time, which is difficult to achieve with conventional simulators. This paper presents a compact, variable-stiffness tactile interface (VSTaI) based on vacuum-induced jamming of 3D-printed structured fabrics. A vacuum-sealed fabric layer is sandwiched between two silicone layers, and stiffness is tuned by regulating internal pressure. Four fabric patterns with different geometric parameters were fabricated and evaluated using force-indentation tests under atmospheric and vacuum conditions. Across the tested pattern and geometry combinations, vacuum jamming increased stiffness significantly, producing an effective modulus from sub-megapascal to megapascal levels. Specifically, one configuration exhibited a stiffness increase of up to 140% under the jammed state. Circular chainmail patterns provided the most spatially uniform distribution of tactile stiffness, while denser geometries reached higher peak stiffness. VSTaI was also shown to exhibit excellent conformability to the underlying geometry. These results support structured-fabric jamming as a practical approach for shape-conformable, tunable-stiffness displays aimed at physical examination training.
发表机构
- Duke-NUS Medical School（杜克-新加坡国立大学医学院）
- College of Design and Engineering, National University of Singapore（新加坡国立大学设计与工程学院）
- Mechanobiology Institute, National University of Singapore（新加坡国立大学力学生物学研究所）
- Imperial College（帝国理工学院）
机构由 AI 辅助整理，请以论文原文为准。
