A Prototyping Toolkit to Explore Haptic Skin Deformation Applications Using Shape-Memory Alloys

ANISMA is a software and hardware toolkit to prototype on-skin haptic devices that generate skin deformation stimuli like pressure, stretch, and motion using Shape-Memory Alloys (SMAs). Our toolkit embeds expert knowledge that makes SMA spring actuators more accessible to human–computer interaction (HCI) researchers. Using our software tool, users can design different actuator layouts, program their spatiotemporal actuation and preview the resulting deformation behavior to verify a design at an early stage. Our toolkit allows exporting the actuator layout and 3D printing it directly on skin adhesive.