SkinSpline: A Body-Attached Skeleton-Supported Haptic Interface for Continuous Skin Deformation through Physical Interpolation

2026-08-01

AI Summary

This work proposes a novel paradigm for tactile feedback that overcomes the high cost and limited scalability of conventional high-density actuator arrays. By physically coupling sparse mechanical actuators with an elastic interlocking skeletal structure, the system transforms discrete actuation signals into continuous, smooth skin deformations, enabling rich haptic experiences even with low-resolution hardware. The design integrates a rack-and-pinion linear actuator array, a modular architecture, a configurable control pipeline, and a real-time visualization interface. This framework supports diverse applications, including waveform rendering, video-synchronized rhythmic touch, vision-driven water-ripple feedback in virtual reality, and sensor-driven remote haptic reproduction, thereby significantly surpassing the limitations inherent in existing dense actuator arrays.

Abstract

We present SkinSpline, a body-attached skeleton-supported haptic interface that renders continuous skin deformation through physical interpolation of sparse mechanical actuation. SkinSpline combines a low-resolution array of rack-and-pinion linear actuators with an elastic interlocking skeleton that transforms discrete actuator motions into smooth surface deformation, enabling continuous cutaneous feedback without dense actuator arrays. The system includes a modular hardware architecture, a configurable control pipeline, and a visual interface supporting real-time configuration and actuation. We demonstrate SkinSpline through multiple scenarios, including wave rendering, video-synchronized rhythmic touch, visually driven water-wave feedback in VR, and sensor-based remote touch reproduction. SkinSpline explores an alternative approach to continuous on-body haptic rendering by leveraging structural coupling between sparse actuation and deformable surfaces.

Problem

• haptic interface
• skin deformation
• continuous feedback
• sparse actuation
• on-body haptics

Innovation

• haptic interface
• skin deformation
• physical interpolation
• sparse actuation
• elastic skeleton