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

We present ANISMA, 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 spatio-temporal 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. To test different actuation sequences on the skin, a user can connect the SMA actuators to our customized driver board and reprogram them using our visual programming interface. We report a technical analysis, verify the perceptibility of essential ANISMA skin deformation devices with 8 participants, and evaluate ANISMA regarding its usability and supported creativity with 12 HCI researchers in a creative design task.