用3D打印织物实现可调硬度触觉反馈，用于模拟真实触诊训练。
VSTaI: Design and Characterization of Variable-Stiffness Tactile Interfaces Based on 3D-Printed Structured Fabrics
- 通过真空致密化3D打印织物结构调节硬度，实现快速可调。
- 最高硬度提升140%，模量达兆帕级，支持真实组织触感。
- 圆形链甲结构分布均匀，适合医学触诊训练场景。
真实触诊训练需要实时可靠地呈现软组织硬度变化，传统模拟器难以实现。本文提出一种基于真空致密化3D打印结构织物的紧凑型可变硬度触觉接口（VSTaI）。在两层硅胶之间夹入真空密封织物层，通过调节内部压力改变刚度。制备了四种具有不同几何参数的织物图案，并在常压与真空条件下进行力-压痕测试。所有组合中，真空致密化显著提升刚度，使有效模量从亚兆帕级升至兆帕级。其中一种配置在致密状态下硬度提升高达140%。圆形链甲图案提供最均匀的触觉刚度分布，而更密集的几何结构可达更高峰值刚度。VSTaI还表现出优异的贴合性。结果表明，结构化织物致密化是一种适用于形貌贴合、可调刚度显示的实用方法，特别适合物理检查训练。
原文摘要 · Abstract (English)
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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