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arXiv · 2608.00496

SkinSpline: A Body-Attached Skeleton-Supported Haptic Interface for Continuous Skin Deformation through Physical Interpolation

Liwen He·Xinyuan Wang·Jiachen Du·Zixin Chen·Yun Wang
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Abstract

We present SkinSpline, a body-attached skeleton-supported haptic interface that renders continuous skin deformation through physical interpolation of sparse mechanical actuation. SkinSpline combines a low-resolution array of rack-and-pinion linear actuators with an elastic interlocking skeleton that transforms discrete actuator motions into smooth surface deformation, enabling continuous cutaneous feedback without dense actuator arrays. The system includes a modular hardware architecture, a configurable control pipeline, and a visual interface supporting real-time configuration and actuation. We demonstrate SkinSpline through multiple scenarios, including wave rendering, video-synchronized rhythmic touch, visually driven water-wave feedback in VR, and sensor-based remote touch reproduction. SkinSpline explores an alternative approach to continuous on-body haptic rendering by leveraging structural coupling between sparse actuation and deformable surfaces.

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Liwen He, Xinyuan Wang, Jiachen Du, Zixin Chen, Yun Wang. 2026-08-01. SkinSpline: A Body-Attached Skeleton-Supported Haptic Interface for Continuous Skin Deformation through Physical Interpolation. https://doi.org/10.1145/3830727.3834841

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