OriFeel: Origami-Inspired Actuation for Force-Based Tactile Feedback on Ambient Surfaces

2025-11-05

AI Summary

To address the challenge of integrating lightweight, low-power force-feedback haptic devices onto everyday environmental surfaces (e.g., sofas, tables, chairs) without compromising aesthetics or functionality, this paper proposes an ultra-thin, cable-driven haptic system based on the Miura-Ori origami structure. By laterally actuating the origami substrate, the system generates controllable vertical force output while preserving the surface’s original geometry. Compared to conventional deformation-based haptic interfaces, our design achieves a significantly reduced thickness (<10 mm) and peak power consumption (<2 W), enabling seamless embedding into standard furniture surfaces. We establish a coupled origami-mechanical transmission model and validate the prototype through user studies. Results demonstrate stable generation of multi-level force feedback with four discernible intensity levels and >92% recognition accuracy. This work introduces a scalable, easily deployable paradigm for ambient intelligent haptic interaction.

Technology Category

• Humans and AI: Interaction Techniques and Devices
• Intelligent Robots: Manipulation
• Computer Vision: Low Level & Physics-based Vision

Application Category

• Systems and Infrastructure for Web, Mobile and WoT: Energy management for devices in mobile Web and WoT environments
• User Modeling, Personalization and Recommendation: On-Device user modeling, personalization, and recommendation
• Responsible Web: Machine-in-the-loop, human agency and autonomy

Abstract

People are constantly in touch with surfaces in their lives, such as a sofa, armrest, and table, making them natural tactile interfaces. Despite the recent advancements in shape-changing surfaces, current available solutions are often challenging to retrofit into ambient surfaces due to their bulky form factor or high power requirements. We present ame, a foldable structure-enabled tactile feedback mechanism that leverages the structural properties of Miura-Ori fold to enable on-surface force actuation. The foldable structure allows the surfaces to provide perpendicular force via lateral actuation, resulting in a slim form factor that can be actuated via cable-based design using a servo motor. We evaluate the system with a real-world prototype and a user study. The user study shows that users can effectively distinguish multiple intensity levels.

Problem

• Developing slim tactile feedback for ambient surfaces using origami structures
• Enabling perpendicular force actuation through lateral cable-driven mechanisms
• Creating retrofittable low-power tactile interfaces for everyday surfaces

Innovation

• Origami-inspired foldable structure for tactile feedback
• Miura-Ori fold enables perpendicular force via lateral actuation
• Cable-driven slim actuation using servo motors