{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/a-4-dof-parallel-origami-haptic-device-for","title":"A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback","arxiv_id":"2109.12134","date":"2021-09-24","proceeding":null,"authors":["Sophia R. Williams","Jacob M. Suchoski","Zonghe Chua","Allison M. Okamura"],"abstract":"We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication are not well suited for designing small robotic devices because it is challenging and expensive to manufacture small, low-friction joints. Our device uses origami manufacturing principles to reduce complexity and the device footprint. We characterize the bandwidth, workspace, and force output of the device. The capabilities of the torsion-DoF are demonstrated in a virtual reality scenario. Our results show that the device can deliver haptic feedback in 4-DoFs with an effective operational workspace of 0.64cm$^3$ with $\\pm 30 ^ \\circ$ rotation at every location. The maximum forces and torques the device can apply in the x-, y-, z-, and $\\theta$-directions, are $\\pm$1.5N, $\\pm$1.5N, 2N, and 5N$\\cdot$mm, respectively, and the device has an operating bandwidth of 9Hz.","url_abs":"https://arxiv.org/abs/2109.12134v1","url_pdf":"https://arxiv.org/pdf/2109.12134v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"a-4-dof-parallel-origami-haptic-device-for","repo_url":"https://github.com/sophiarw/4-dofforwardkinematics","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"syntology_url":null,"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}