xSlate: A Scalable Shape-Changing Interface with Jamming Structure and Its Applications

Abstract

Shape-changing interfaces can change their physical appearance according to situations or assigned functions. While various types of shape-changing interfaces have been proposed, it is still challenging to meet the requirements of flexibility for the shape-change and stiffness for bearing load applied on them. Toward this issue, we propose a new system called xSlate, a shape- and scale-changing interface with stiffness control for the surface. It is enabled by a deformable frame structure that consists of linear actuators, and an elastic skin surface that can configure its stiffness by pneumatic jamming. We also developed a touch sensor on xSlate for interactive usage. In this paper, we describe the specific design and fabrication methods of xSlate. We also propose four applications, including a size-changing racket, deformable table, size-changing packing material, and shape-changing smart device.