FingerPrint: Fully 3D Printed Fingertip Haptic Device

Here is a fully 3D printed fingertip haptic device made based on an origami mechanism that uses multiple foldable vacuum actuators and fluidic channels. FingerPrint features:

4-DoF of motion on the finger pad with tunable haptic forces (up to 1.3 N lateral and 7 N normal) and torque (up to 25 N-mm) for skin shear, pressure, and vibro-tactile feedback. 

This device comes with a thimble mounting for the fingertip.

[HT]