Stiffness Perception of Virtual Objects Using FOLDAWAY-Touch

  • Marco Salerno
  • Stefano MintchevEmail author
  • Alexandre Cherpillod
  • Simone Scaduto
  • Jamie Paik
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 535)


Haptic human interfaces are nowadays becoming more and more diffused also thanks to their combined use with Virtual Reality & Augmented Reality (VR & AR). Although many research platforms explore kinesthetic interaction with virtual objects, the only feedback available in widespread commercial devices is a rather simple vibration.

In this paper we introduce “FOLDWAY-Touch” a novel portable kinesthetic haptic interface whose technology can be easily integrated into hand-held devices. The key technological aspect is the miniaturization of the haptic mechanism achieved through the use of origami design and manufacturing principles. Another achievement of this paper is the use of FOLDAWAY-Touch in a virtual simulation to grasp objects with different levels of stiffness.


Force feedback Virtual reality Origami 


Ethical Approval:

All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki declaration and its later amendments or comparable ethical standards.

Informed Consent:

Informed consent was obtained from all individual participants included in the study.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Marco Salerno
    • 1
  • Stefano Mintchev
    • 1
    Email author
  • Alexandre Cherpillod
    • 1
  • Simone Scaduto
    • 1
  • Jamie Paik
    • 1
  1. 1.Reconfigurable Robotics LaboratoryEPFLLausanneSwitzerland

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