“Haptic Canvas: Dilatant fluid based haptic interaction” by Yoshimoto, Hamada, Tokui, Suetake, Imura, et al. …

  • ©Shunsuke Yoshimoto, Yuki Hamada, Takahiro Tokui, Tetsuya Suetake, Masataka Imura, Yoshihiro Kuroda, and Osamu Oshiro


    Haptic Canvas: Dilatant fluid based haptic interaction


Entry Number: 13


    Some kinds of substances naturally attract people to touch them. The slurry made from water and starch is one of the haptically fascinating substances, and presents the amusing but mysterious sensation like playing in the mud when you were in childhood. The mysterious haptic sensation comes from the property of the fluid, “dilatancy”, which is the change in the state from liquidlike to solid-like according to the external force. The purpose of this study is to establish the new haptic interaction by presenting both direct touch and mechanically variable haptic sensations with the slurry made from water and starch-i.e., “dilatant fluid”.

    “Haptic Canvas” is a haptic entertainment system presented by dilatant fluid with the controlling grove. Like painting a picture, users can blend haptic paints to create a new haptic sensation by touching virtual haptic paints represented in the shallow pool filled with dilatant fluid, thus coloring and drawing a haptic picture. The haptic paints called “Haptic Primary Colors” are “stickiness”, “hardness” and “roughness” sensations represented by the proposed haptic glove. Users can have the experience of distinct multimodal haptic sensations created by the controlling grove with the dilatant fluid.

Other Information:


    BLAKE, J., AND GUROCAK, H. B. 2009. Haptic glove with mr brakes for virtual reality. IEEE/ASME Transactions on Mechatronics 14, 5, 606–615.

    HAN, Y. M., KANG, P. S., SUNG, K. G., AND CHOI, S. B. 2007. Force feedback control of a medical haptic master using an electrorheological fluid. Journal of Intelligent Material Systems and Structures 18, 12, 1149–1154.

    SAGA, S., AND DEGUCHI, K. 2009. Dilatant fluid based tactile display (2nd report). In Proceedings of the 2009 JSME Conference on Robotics and Mechatoronics, 2P1–L04.