HapticClench: Investigating Squeeze Sensations using Memory Alloys
summary
HapticClench is a wrist device that uses SMA springs to squeeze with a 3.45 mm span, reaching 1.63 kg load capacity and 1.63 kg/s throughput (max requires ~32 W). Users detect squeezing at about 0.16 kg detection threshold (0.17 kg when distracted) and can reliably distinguish four load levels (JND) and 15 spatial patterns at 85% overall accuracy (92% for the clearer 10). Continuous ramps register 65% recognition versus 90% for staggered steps; cooling time (10–20 s) and power/heat remain limitations.
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chapters (13)
- 0:00Introduction to HapticClench
- 1:11Device demonstration and SMA springs
- 2:58Comparison with pneumatic actuation
- 4:04Design goals and metrics for squeezing
- 6:52Detection threshold study results
- 8:37Modulating squeezing strength levels
- 9:22Spatial squeezing patterns experiment
- 11:11Gradual squeezing and ambient feedback
- 13:19Other form factors and applications
- 14:01Guidelines for SMA actuators
- 16:08Design guidelines for squeezing sensations
- 17:12Future applications and open questions
- 18:14Q&A session
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