Model-Based Design of a Soft 3-D Haptic Shape Display

Haptic shape displays provide compelling touch interactions by allowing users to freely explore a rendered surface. However, these displays are currently limited to 2.5-D surfaces due to the space requirements of their actuation. Building on previous work in haptic jamming, we developed a novel, soft 3-D shape display. A fully 3-D display that a user can grasp and hold allows for improved interact...