Practical Structure Design and Control for Digital Clay

Digital Clay is a proposed novel three-dimensional computer input and output device for surface shape and haptic effects. The device consists of an array of fluidic actuators under the control of valves connected to two pressure reservoirs in a manner ultimately suitable to an implementation in MEMS technology. The challenges to build this device lie in both the kinematical structure design and the control architecture. Though it is proposed to ultimately build the actuators and control valves using MEMS technology, conventional methods are used at the current prototype stage. In this paper, several designs of the practical kinematical structure will be discussed and the proposed control architecture for the Digital Clay will be introduced.

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