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01

haptic actuators:

http://brettinman.com/2009/05/30/driving-speakers-with-arduino/
Low-Fi // Small Audio

It is possible to use a pair of simple ear-bud

headphones as speakers. These can be wired direct-
ly to the 5volts on the Arduino board through the ‘Au-
dio Jack Breakout Board’ available on Sparkfun. With
this connection, you can plug headphones directly into
the circuit.
This system has distinct audio-range limita-
tions. By sending HIGH/LOW input through a digital
pin and altering the frequency of output, you create
essentially ‘square waves’ that transimit your audio in-
formation. These tones commonly sound harsh and
unnatural. In this instance the headphones would be Earbuds // micro-Speakers
used as mono-output not stereo. Best used for simple
tones/alerts.

Relevant youtube video webaddress

Relevant website of the provider
Audio Jack Breakout Board
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haptic actuators:

hi-Fi // Arduino Speakers

Using the Arduino Wave Sheild Kit you can at-

http://www.youtube.com/watch?v=26Kf9rgrcrs
tach a small speaker, an audio jack, a sound level dial,
and an SD Card that stores your audio files all directly
to the Arduino board. With this system, the audio qual-
ity is very good (though not CD quality). The audio
input must be uncompressed WAV files and you are
limited to using about 500 different audio files. How-
ever, the size of those files is not limited. Output for
this system is mono. This sheild cannot record audio.
It is sold as a kit and there are programs and
test audio files written for testing the kit and easily
guiding you through its setup. You can use the ear- the Audio Shield Kit
buds again here instead of the small speaker.

http://www.ladyada.net/make/waveshield/design.html
http://www.youtube.com/watch?v=26Kf9rgrcrs
http://www.ladyada.net/make/waveshield/

Wired up!
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http://www.xbox360videos.com/view.php?video=8pblBDpw8gc&feature
=youtube_gdata_player&title=ME350+-+Testing+the+Machine+%232
haptic actuators:

pneumatics

Pneumatic pistons can be purchased at many

hardware stores and are often designed for very spe-
cific installations. An example of an off-the-shelf op-
tion for a simple pneumatic piston this 24V pneumatic
arm. 20mm bore, 80mm length with dual-action (so it
both extends and contracts). This has built-in noise
reduction and requires a reservoir of compressed air.
Controlling the speed and distance of exten-
sion is quite complicated and requires a high speed
solenoid valve, connected to a high speed solid state
transistor, connected to the arduino.
It is possible to get pneumatic pistons in a huge Tennis Ball Launcher
variety of sizes with the capacity of lifting hundreds
and thousands of pounds. The compressed air re-
quirements and costs can be prohibitive. See this
source catalog for examples: http://www.smcpneu-
maticsdistributor.com/?gclid=CM6b9bjClqQCFQo65
QodEiOcLA

http://www.youtube.com/watch?v=44CnPjJSKIs
http://www.practicalarduino.com/news/id/431
24V Pneumatic Arm
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haptic actuators:

http://cwwang.com/2008/04/08/soft-pneumatic-exoskeleton/
Flexible Pneumatics

This Exoskeleton project demonstrates the

potential for pneumatic muscle assistance. The prin-
ciple could be simply translated to strucutral systems
where the force to move elements is assisted by the
pneumatic actuator. This option is ‘high tech’ because
these parts cannot be found off-the-shelf. The piston

http://vimeo.com/965417
mechanism is soft, and flexible and does not require a
rigid or fixed housing. It is also lightweight and mobile.
Pneumatic muscles work by inflating a silicon
tube within a plastic braided sleeve. The inflation of
the tube shortens the overall length of the assembly
as the braided sleeve increases radially. The system Pneumatic Exoskeleton by Che-Wei Wang
does rely on an air reservoir so it cannot operate con-
tinuously. These pneumatic muscles can be custom
ordered to length.

http://www.youtube.com/watch?v=AcdVeSoJJAE

Pneumatic ‘Muscles’
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haptic actuators:

smell

http://www.youtube.com/watch?v=VoBGau9623I
This smoking machine uses a number of simple
mechanical, geared operations to move a cigarette
into position. Essentially, the piston valve pulls air
through the cigarette to burn it in controlled manner.
This same simple mechanism, the piston valve, can
be used with air, gas or liquid, and can be controlled
to either pull air INTO the valve, or expell a material
FROM the valve.
This is a basic piston pump valve, there are dig-
ital versions as well with extreme precision offered on
McMaster-Carr. This type of off-the-shelf valve pump
needs to be actuated by another mechanism, it is not Smoking Machine
self-powered. It also needs to be connected to the
source of ‘smell’.

http://www.animatedengines.com/otto.shtml
standard valve
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haptic actuators:

smell

To introduce the smell of many materials, that

are not already gasses, heating them can produce and

http://hackaday.com/?s=coffee+roaster
diffuse small clouds of their molecules. This must be
done in a controlled and safe way, taking into account
that the smell of ‘burning’ can overpower the smell of
the material. Low temperature heating devices can be
found in many appliances. This example has the ad-
vantage of providing a container (popcorn reservoir)
and a very hackable setup for low-heating materials.
This hacked popcorn maker has been turned
into a coffee roaster, controlled by arduino. This set-
up required a temperature sensor, a protoshield, a Full Hack Setup: arduino, lcd, popcorn
fanspeed controller, a heater controller, a pot-meter, a

http://www.instructables.com/id/A-fully-automatic-coffee-bean-roaster-
start button, an LCD screen, and a popcorn machine.
With low heat on coffee beans, you can dispense a
smell with little or no danger of fire.
Controlling the direction and duration of the
smell require additional mechanisms.

Arduino/

coffee being roasted

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haptic actuators:

http://www.wired.com/geekdad/2010/08/arcattack-and-the-
electrical arcs

Uncharted Territories: I was unable to find spe-

worlds-first-lightning-proof-midi-guitar/
cific devices on the web that generate these sensa-
tions (probably for safety reasons) but here are some
starting points for going in this direction....

Arc Attack- ironman guitar. This group has

found ways to harnes electrical arcs based on Nicola
Tesla’s research on conducting electricity through the
air. They wear full rubber suits when doing their per-
formances.

Generating static electricity requires simple Arc Attack in action

mechanical movements and can be generated with
mechanisms as basic as a recordplayer with a rab-
bit fur arm. The static can then be discharged from
a sensor on contact. Many websites can guide you
through building these DIY generators. Static Electric-

http://www.alaska.net/~natnkell/staticgen.html
ity is harmless and can create great effects of ‘clinging’
and wild hair.

Deploying Static Electricity - Safely!

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http://www.lightinguniverse.com/directional-spot-lights/progress-light-
haptic actuators:

ing-p6397-30-heat-directional-spot-light-white_g352229.html
heat

Directional Heat Lights are standard, off-the-

shelf hardware that can aim heat. These are generally
coupled with a light as well and could be powered us-
ing the arduino breaker box. These operate on regular
110V power, weigh about 3lbs and are about 8inches
tall (though they come in a wide range of shapes and
sizes). They also require a warm-up period to get to
full heat.
Heat Lamp bulbs are also available, both direc-
tional and non-directional. These can be applied to
any light socket with 110V (standard). These can be
found off-the-shelf and relatively inexpensive (under Directional Heat Light
$10).

http://www.ameridiser.com/pages/heatlamps.htm

Directional Heat Bulb

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haptic actuators:

off-solenoid-valve-with-qc-fittings.aspx?affiliateid=10050&q
id=0&utm_source=Googlebase&utm_medium=Feed&utm_
http://www.freshwatersystems.com/p-1243-electronic-shut-
misting

campaign=Product&utm_term=1102X-062CE-B205AN
With very simple, hackable, misters you can in-
crease the humidity of an area. The two most simple
actuators are both passive, require a constant hook-
up to a watersource, are relatively inexpensive (under
$30). Sparkfun produces a humidity/temperature sen-
sor that could be used in conjunction with the actual
mister.
For actuating the water in this mechanism, you
need a solenoid valve or a pinch valve (or something
else creative you come up with). I have included links
to a couple of options for valves. Many of these can
be purchased off-the-shelf at a hardware or plumbing Umbrella Mister
store (under $10) but must be actuated using a sec-

http://www.sparkfun.com/commerce/product_info.php?products_id=8257
ondary system that is controlled with arduino. Digital
valves are also available (starting at about $25) with
the potential to connect directly to arduino.
The umbrella type misters are continuous and
mist any area below the misting-hose. The fan mis-
ters are simply attached to any size fan and the mist
can be somewhat controlled by the fan speed and di-
rection.

https://mistymate.com/
Fan Mister
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http://hearth.com/econtent/index.php/wiki/Electric_Heat_Tape_That_
haptic actuators:

Cold_Water_Pipe_To_Keep_It_From_FreezingHow_To_Install/
Heat Cable // Tape // Rope

http://www.mcmaster.com/#about-heat-tape/=8xjjgb
Heat rope can be used to maintain a constant
temperature or to regulate the temperature of an item
relative to the external temperature. This product is
very flexible, designed to be wrapped around pipes in
a coil-like fashion. It can be embedded, insulated or
exposed and it is used with a temperature controlling
device to prevent burnout. It comes as a cable, as
tape, or as rope. The wire-mesh version draws about
7watts per linear foot (differes depending on the prod-
uct) and the vinyl tape version draws about 3watts per
linear foot. Both requrie special heat attachment tape
for fixing it in place. Heat Cable sold on a spool
These are generally sold in rolls of 100, 200,
or 300 feet or can be specially ordered to specific
lengths. Prices varying from $1.50/ft to $4.00/ft.

Interior wire mesh and plastic coating.

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haptic actuators:

synesthesia // phenomena

http://wearcam.org/visualfiltersynesthesia.html
Synesthesia is a neurologically-based condi-
tion in which stimulation from one sensory or cognitive

http://www.synesthesia.info/index.html
pathway leads to automatic, involuntary experiences
in a second sensory or cognitive pathway.
There has been some well referenced work
at the Media Lab concerning sound manipulation
through use of color, perception, psychophysics and
multi-media user interface design.
I included this in the haptic-actuator chapter be-
cause there is quite a lot of research into this field/
condition and many of our projects are looking at this
specific type of translation from one sensory type to simple synesthesic experience
another sense, especially with these actuators.
Research into synesthesia has recently (last 20
years) accelerated due to the brain mapping we are
capable of doing with MRI scans. This is a revatively
new field of research and the phenomena is not en-

http://www.territimely.com/_/v/2-short-films?video_id=34
tirely understood.

Tactile Speaker // Synesthesia Film Still

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haptic actuators:

http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1266369410
http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1284514124
light aggregation

By aggregating 112 led lights, this pixelated

canvas was created. The leds have been multiplexed
to work off of one arduino board. Similiarly, this sys-
tem can be actuated by a cellphone or an ipod to cre-
ate a changing display that is coordinated to sound
beats, etc. This can be embedded at virtually any
scale, depending on the size of ‘pixels’ created.

pixelated table

http://www.youtube.com/watch?v=ksVysIMQl-4
http://www.youtube.com/watch?v=lgTjJe9hcU4

color controller
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haptic actuators:

vibration

Vibrating motors come in a range of sizes and

shapes, on the small end of the spectrum are motors
used in cellphones. This motor requires a transistor

Relevant youtube video webaddress

and diode to connect to the arduino board.

Relevant website of the provider

By aggregating vibration motors, bigger de-
vices such as the ‘haptic compass’ can communicate
multi-level information. Here, a persons body orien-
tation is registered at all times. Depending on which
motors are activated and to what degree of vibration,
the user knows the direction of magnetic North. This
‘haptic compass’ is worn as a belt, it is also connected Cellphone Vibrator Mechanism
to a GPS device and a remote arduino board.

http://www.monkeysandrobots.com/hapticcompass
Haptic Compas
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haptic actuators:

tele-feeling

The inventors of this device see its potential as

http://www.physorg.com/news131968663.html
a ‘tele-feeling’ device.
This small, flexible fabric patch conveys ‘touch’
sensations to the user. Where other tactile fabic can
only be actuated in specific places (aka stimulus ele-
ments can only be attached locally), this fabric can con-
vey sensation globally. The key material in the touch
actuator is an electroactive polymer that can stimulate
the skin without using any additional electromechani-
cal transmission. The polymer consists of eight layers
of dielectric elastomer actuator films which have been
sprayed with electrodes in a specific pattern.
The display can convey information to the BandAid size, Flexible Touch Sensor
wearer when the electrodes induce a voltage across
the films. A voltage causes the films to compress down
and expand outward. In doing so, the films put pres-
sure on the wearer’s skin, inducing a “mild sensation.”
Like most polymers, the device is hyperelastic, mean-
ing that it can experience large amounts of elastic
strain and recover its original shape.

http://robot.kaist.ac.kr/~kimsc/HI/?page_id=28
This product is not commercially available at
this time.

This second wearable tactile display uses an

array of piezoelectric ultrasonic actuators. As you can
see in the video, the pins in the head of this device
move up/down on one’s fingertip. This product is not
commercially available at this time.

Tactile Display by Seung-Chan Kim

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haptic actuators:

painting // printing

http://www.youtube.com/watch?v=VFPE04eqrgU
This device is made with built-in felt tip pens

http://hackaday.com/2010/08/05/txtbomber/
and solenoid valve actuators. The ‘printing’ speed is
calibrated to the wheel size that rolls across the sur-
face. It is pre-programmed with an arduino board for
the print design, then it is used independently in the
field, (the design cannot be changed in the field, no
lcd interface, etc.).
This presents just one system of printing or
painting, with one material. The concept could be
hacked to accomodate other print materials, to re-
lease smells, mists, glues, or even mild shocks or
other sensations. txtbomber graffiti printer

http://laughingsquid.com/txtbomber-a-mobile-wall-printer-for-guerillia-art/
Large Scale text bombing