This project was done in association with the Stanford Collaborative Haptics in Robotics and Medicine (CHARM) Lab. In an effort to create compelling touch cues an array of miniature skin deformation actuators was developed. Each tactor in this array was developed with 3 degrees of freedom to allow it to independently make and break contact with the skin and then stretch the skin in any direction. The creation of a large array of these miniature tactors has opened up novel basic science tests on skin deformation haptics.
