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Hedgehog: Handheld Spherical Pin Array based on a Central Electromagnetic Actuator
(2021)2021 IEEE World Haptics Conference (WHC)We present Hedgehog, a single-actuator spherical pin-array device that produces cutaneous haptic sensations to the user's palms. Hedgehog can enrich digital experiences by providing dynamic haptic patterns over a spherical surface using a simple, hand-held device. The key to our design is that it uses a single central actuator, a spherical omnidirectional electromagnet, to control the extension of all the 86 movable pins. This keeps our ...Conference Paper