待翻譯：VSTaI: Design and Characterization of Variable-Stiffness Tactile Interfaces Based on 3D-Printed Structured Fabrics
AI 服務暫時不可用，以下為來源摘要，待恢復後補全翻譯：arXiv:2607.29102v1 Announce Type: new Abstract: 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.
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--> [Submitted on 31 Jul 2026] Title:VSTaI: Design and Characterization of Variable-Stiffness Tactile Interfaces Based on 3D-Printed Structured Fabrics View a PDF of the paper titled VSTaI: Design and Characterization of Variable-Stiffness Tactile Interfaces Based on 3D-Printed Structured Fabrics, by Yiting Mo and 3 other authors View PDF HTML (experimental) Abstract: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. Subjects: Robotics (cs.RO) Cite as: arXiv:2607.29102 [cs.RO] (or arXiv:2607.29102v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2607.29102 arXiv-issued DOI via DataCite (pending registration) Journal reference: Haptics: Understanding Touch; Technology and Systems; Applications and Interaction. EuroHaptics 2026. Lecture Notes in Computer Science, vol 16594. Springer, Cham Related DOI: https://doi.org/10.1007/978-3-032-32350-7_38 DOI(s) linking to related resources Submission history From: Yiting Mo [view email] [v1] Fri, 31 Jul 2026 07:31:59 UTC (27,040 KB) Full-text links: Access Paper: View a PDF of the paper titled VSTaI: Design and Characterization of Variable-Stiffness Tactile Interfaces Based on 3D-Printed Structured Fabrics, by Yiting Mo and 3 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-07 Change to browse by: cs References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)