research-article

ShArc: A Geometric Technique for Multi-Bend/Shape Sensing

Authors:

Fereshteh Shahmiri,

Paul H. DietzAuthors Info & Claims

CHI '20: Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems

Pages 1 - 12

https://doi.org/10.1145/3313831.3376269

Published: 23 April 2020 Publication History

Abstract

We present ShArc, a precision, geometric measurement technique for building multi-bend/shape sensors. ShArc sensors are made from flexible strips that can be dynamically formed into complex curves in a plane. They measure local curvature by noting the relative shift between the inner and outer layers of the sensor at many points and model shape as a series of connected arcs. Unlike jointed systems where angular errors sum with each joint measured, ShArc sensors do not accumulate angular error as more measurement points are added. This allows for inexpensive, robust sensors that can accurately model curves with multiple bends. To demonstrate the efficacy of this technique, we developed a capacitive ShArc sensor and evaluated its performance. We conclude with examples of how ShArc sensors can be employed in applications like gesture input devices, user interface controllers, human motion tracking and angular measurement of free-form objects.

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Cited By

Thalhammer P(2025)Generative AI Meets Accessibility: Deformable Interfaces and Multimodal SolutionsProceedings of the Nineteenth International Conference on Tangible, Embedded, and Embodied Interaction10.1145/3689050.3704798(1-5)Online publication date: 4-Mar-2025
https://dl.acm.org/doi/10.1145/3689050.3704798
Nugraha MRossiter JConn A(2025)A Low Cost Multi Degree of Freedom Capacitive Soft SensorIEEE Robotics and Automation Letters10.1109/LRA.2025.354408510:4(3550-3557)Online publication date: Apr-2025
https://doi.org/10.1109/LRA.2025.3544085
Buch NTejada CAshbrook DSavage V(2024)LaCir: A multilayered laser-cuttable material to co-fabricate circuitry and structural components.Proceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642888(1-10)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642888
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Index Terms

ShArc: A Geometric Technique for Multi-Bend/Shape Sensing
1. Hardware
  1. Communication hardware, interfaces and storage
    1. Sensors and actuators
  2. Emerging technologies
    1. Emerging interfaces
2. Human-centered computing
  1. Human computer interaction (HCI)
  2. Interaction design
    1. Systems and tools for interaction design

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cover image ACM Conferences

CHI '20: Proceedings of the 2020 CHI Conference on Human Factors in Computing Systems

April 2020

10688 pages

ISBN:9781450367080

DOI:10.1145/3313831

General Chairs:
Regina Bernhaupt
Eindhoven University of Technology, Netherlands
,
Florian 'Floyd' Mueller
Monash University, Australia
,
David Verweij
Newcastle University, UK
,
Josh Andres
RMIT, Australia
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Program Chairs:
Joanna McGrenere
University of British Columbia, Canada
,
Andy Cockburn
University of Canterbury, New Zealand
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Ignacio Avellino
University of Maryland Baltimore County, USA
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Alix Goguey
Grenoble Alpes University, France
,
Pernille Bjørn
University of Copenhagen, Denmark
,
Shengdong (Shen) Zhao
National University of Singapore, Singapore
,
Briane Paul Samson
Future University Hakodate, Japan & De La Salle University, Philippines
,
Rafal Kocielnik
University of Washington, USA

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Published: 23 April 2020

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Cited By

Thalhammer P(2025)Generative AI Meets Accessibility: Deformable Interfaces and Multimodal SolutionsProceedings of the Nineteenth International Conference on Tangible, Embedded, and Embodied Interaction10.1145/3689050.3704798(1-5)Online publication date: 4-Mar-2025
https://dl.acm.org/doi/10.1145/3689050.3704798
Nugraha MRossiter JConn A(2025)A Low Cost Multi Degree of Freedom Capacitive Soft SensorIEEE Robotics and Automation Letters10.1109/LRA.2025.354408510:4(3550-3557)Online publication date: Apr-2025
https://doi.org/10.1109/LRA.2025.3544085
Buch NTejada CAshbrook DSavage V(2024)LaCir: A multilayered laser-cuttable material to co-fabricate circuitry and structural components.Proceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642888(1-10)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642888
Gonzalez Avila JPietrzak TGirouard ACasiez G(2024)Understanding the Challenges of OpenSCAD Users for 3D PrintingProceedings of the 2024 CHI Conference on Human Factors in Computing Systems10.1145/3613904.3642566(1-20)Online publication date: 11-May-2024
https://dl.acm.org/doi/10.1145/3613904.3642566
Mei YPeng LShi HQi XDeng YSrivastava VTan X(2024)Simultaneous Shape Reconstruction and Force Estimation of Soft Bending Actuators Using Distributed Inductive Curvature SensorsIEEE/ASME Transactions on Mechatronics10.1109/TMECH.2024.339782529:4(2849-2857)Online publication date: Aug-2024
https://doi.org/10.1109/TMECH.2024.3397825
Kim SJeong UCho K(2024)Multiparameter Remote Contact Force Sensor With Embedded Bend Sensing for Tendon-Driven Hand RobotsIEEE/ASME Transactions on Mechatronics10.1109/TMECH.2023.328106229:1(557-566)Online publication date: Feb-2024
https://doi.org/10.1109/TMECH.2023.3281062
Li XYe CHuang BZhou ZSu YMa YYi ZWu X(2024)A Shortcut Enhanced LSTM-GCN Network for Multi-Sensor Based Human Motion TrackingIEEE Transactions on Automation Science and Engineering10.1109/TASE.2023.330789021:4(5078-5087)Online publication date: Oct-2024
https://doi.org/10.1109/TASE.2023.3307890
Wang PFeng YZheng ZXing ZZhao J(2024)Shape Reconstruction of Extensible Continuum Manipulator Based on Soft SensorsSoft Robotics10.1089/soro.2023.009411:6(994-1007)Online publication date: 1-Dec-2024
https://doi.org/10.1089/soro.2023.0094
Jiang MJin CBai Z(2024)Omnidirectional Bending Sensor with Bianisotropic Structure for Wearable ElectronicsACS Sensors10.1021/acssensors.4c0273410:1(448-459)Online publication date: 18-Dec-2024
https://doi.org/10.1021/acssensors.4c02734
Morris LDiteesawat RRahman NTurton ACramp MRossiter J(2023)The-state-of-the-art of soft robotics to assist mobility: a review of physiotherapist and patient identified limitations of current lower-limb exoskeletons and the potential soft-robotic solutionsJournal of NeuroEngineering and Rehabilitation10.1186/s12984-022-01122-320:1Online publication date: 30-Jan-2023
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