Open Access
Complex selective manipulations of thermomagnetic programmable matter
(Springer Nature, 2022) Irisarri Erviti, Josu; Ezcurdia Aguirre, Íñigo Fermín; Sandúa Fernández, Xabier; Galarreta Rodríguez, Itziar; Pérez de Landazábal Berganzo, José Ignacio; Marzo Pérez, Asier; Ciencias; Zientziak; Ingeniería; Ingeniaritza; Institute for Advanced Materials and Mathematics - INAMAT2; Institute of Smart Cities - ISC
Programmable matter can change its shape, stiffness or other physical properties upon command. Previous work has shown contactless optically controlled matter or magnetic actuation, but the former is limited in strength and the latter in spatial resolution. Here, we show an unprecedented level of control combining light patterns and magnetic fields. A mixture of thermoplastic and ferromagnetic powder is heated up at specific locations that become malleable and are attracted by magnetic fields. These heated areas solidify on cool down, and the process can be repeated. We show complex control of 3D slabs, 2D sheets, and 1D filaments with applications in tactile displays and object manipulation. Due to the low transition temperature and the possibility of using microwave heating, the compound can be manipulated in air, water, or inside biological tissue having the potential to revolutionize biomedical devices, robotics or display technologies.
Open Access
Interactions with digital mountains: tangible, immersive and touch interactive virtual reality
(Association for Computing Machinery (ACM), 2020) Ardaiz Villanueva, Óscar; Marzo Pérez, Asier; Baztán Larrea, Rubén; Ezcurdia Aguirre, Íñigo Fermín; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Gobierno de Navarra / Nafarroako Gobernua, PI043-2019; Universidad Pública de Navarra / Nafarroako Unibertsitate Publikoa
Digitization of Earth mountains and terrains has facilitated to plan journeys, manage natural resources, and learn about the Earth from the comfort of our homes. We aim to develop new interactions on digital mountains with novel interfaces: 3D printed representation of a mountain, an immersive virtual reality visualization, and two different touch interactive interfaces for immersive virtual reality visualizations: a 3D printed mountain with touch sensors and a multitouch tablet. We show how we have built such prototypes based on digital data retrieved from a map provider, and which interactions are possible with each interaction device. We explain how we design and conduct evaluation.
Open Access
LeviPrint: contactless additive manufacturing using acoustic levitation with position and orientation control of elongated parts
(2021) Ezcurdia Aguirre, Íñigo Fermín; Morales González, Rafael; Marzo Pérez, Asier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika
LeviPrint assembles small objects in a contactless way using ultrasonic phased-arrays and optimization algorithms. We explore a set of methods that enables 6 Degrees-of-Freedom (DoF) control of elongated bodies. We then evaluate different ultrasonic arrangements to optimize the manipulation of these bodies. The combination of arrangements and optimization algorithms allow us to levitate, orientate and assemble complex objects. These techniques and arrangements can be leveraged for the microfabrication of electromechanical components and in-vivo additive manufacturing. We highlight the reduction of cross-contamination and the capability to manufacture inside closed containers from the outside.
Open Access
Content adaptation and depth perception in an affordable multi-view display
(MDPI, 2020) Ezcurdia Aguirre, Íñigo Fermín; Arregui Roldán, Adriana; Ardaiz Villanueva, Óscar; Ortiz, Amalia; Marzo Pérez, Asier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Gobierno de Navarra / Nafarroako Gobernua, 0011-1365-2019-000086; Universidad Pública de Navarra / Nafarroako Unibertsitate Publikoa, PJUPNA1923
We present SliceView, a simple and inexpensive multi-view display made with multiple parallel translucent sheets that sit on top of a regular monitor; each sheet reflects different 2D images that are perceived cumulatively. A technical study is performed on the reflected and transmitted light for sheets of different thicknesses. A user study compares SliceView with a commercial light-field display (LookingGlass) regarding the perception of information at multiple depths. More importantly, we present automatic adaptations of existing content to SliceView: 2D layered graphics such as retro-games or painting tools, movies and subtitles, and regular 3D scenes with multiple clipping z-planes. We show that it is possible to create an inexpensive multi-view display and automatically adapt content for it; moreover, the depth perception on some tasks is superior to the one obtained in a commercial light-field display. We hope that this work stimulates more research and applications with multi-view displays.
Open Access
PointerVol: a laser pointer for swept volumetric displays
(ACM, 2024-10-11) Fernández Ortega, Unai Javier; Sarasate Azcona, Iosune; Ezcurdia Aguirre, Íñigo Fermín; López-Amo Ocón, Manuel; Fernandez Fernandez, Ivan; Marzo Pérez, Asier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika
A laser pointer is a commonly used device that does not require communication with the display system or modifications on the applications, the presenter can just take a pointer and start using it. When a laser pointer is used on a volumetric display, a line rather than a point appears, making it not suitable for pointing at 3D locations. PointerVol is a modified laser pointer that allows users to point to 3D positions inside a swept volumetric display. We propose two PointerVol implementations based on timing and distance measurements, we evaluate the pointing performance using them. Finally, we present other features such as multi-user pointing, line patterns and a multi-finger wearable. PointerVol is a simple device that can help to popularize volumetric displays, or at least to make them more usable for presentations with true-3D content.
Open Access
Contactless electrostatic piloerection for haptic sensations
(IEEE, 2023) Iriarte Cárdenas, Naroa; Ezcurdia Aguirre, Íñigo Fermín; Elizondo Martínez, Sonia; Irisarri Erviti, Josu; Hemmerling, Daria; Ortiz Nicolás, Amalia; Marzo Pérez, Asier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika
In this project, we create artificial piloerection using contactless electrostatics to induce tactile sensations in a contactless way. Firstly, we design various high-voltage generators and evaluate them in terms of their static charge, safety and frequency response with different electrodes as well as grounding strategies. Secondly, a psychophysics user study revealed which parts of the upper body are more sensitive to electrostatic piloerection and what adjectives are associated with them. Finally, we combine an electrostatic generator to produce artificial piloerection on the nape with a head-mounted display, this device provides an augmented virtual experience related to fear. We hope that work encourages designers to explore contactless piloerection for enhancing experiences such as music, short movies, video games, or exhibitions.
Open Access
Optimization of acoustic fields: advances towards its use for matter manipulation and contactless fabrication
(2023) Ezcurdia Aguirre, Íñigo Fermín; Marzo Pérez, Asier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Universidad Pública de Navarra / Nafarroako Unibertsitate Publikoa
Los campos de presión acústica son capaces de modelar y levitar partículas de una amplia gama de materiales y tamaños a través del aire, el agua o el tejido biológico. Esto tiene aplicaciones en cristalografía, manipulación celular, escenarios lab-on-a-chip, farmacología, transporte sin contacto e incluso levitación de seres vivos. En general, la investigación de campos de presión acústica ha experimentado avances significativos en los últimos años. Su flexibilidad y sus posibles aplicaciones han aumentado considerablemente con el desarrollo de técnicas holográficas y el uso de optimizadores. Sin embargo, aún hay margen de mejora, ya que las limitaciones dificultan la aplicación de los campos acústicos en diversos escenarios de investigación. Por ejemplo, no existe una plataforma de hardware unificada que motive de forma flexible la investigación exploratoria en aplicaciones de holografía acústica. La mayoría de los dispositivos comerciales o de caseros carecen de la resolución o la potencia que necesitan las personas investigadoras, por lo que tienen que fabricar dispositivos más complejos y caros. Además, investigaciones anteriores se han centrado en la levitación y manipulación de pequeñas partículas y gotas; sin embargo, aún no se ha desarrollado un prototipo completo para la fabricación sin contacto; no existen artículos científicos que estudien el atrapamiento de objetos alargados tanto en posición como en orientación. Además, la microfluídica está limitada en cuanto a la manipulación tridimensional (3D), el tamaño de las gotas y la contaminación cruzada. Esta tesis ofrece una introducción exhaustiva a la optimización de los campos acústicos, repasando su importancia en aplicaciones de múltiples ámbitos de la investigación y la industria. Esta tesis también examina las limitaciones y deficiencias previamente expuestas y presentes en el actual diseño y aplicación de campos acústicos. Se proponen algoritmos novedosos para generar los campos deseados y mejorar significativamente su resolución y potencia mediante multiplexación espacial y temporal. Se presenta una plataforma de hardware abierta y asequible para facilitar la adaptación a los requisitos experimentales de los investigadores que exploran nuevas aplicaciones de los hologramas ultrasónicos. Se diseñan y evalúan trampas acústicas óptimas para manipular elementos alargados controlando su posición y orientación. Se demuestra la fabricación sin contacto utilizando trampas acústicas de piezas alargadas mediante fabricación aditiva basada en partículas levitadas, varillas y resina UV; también se ilustra la adición sobre otros objetos y la construcción dentro de contenedores. Por último, se propone un sistema, destinado a microfluídica 3D, basado en ultrasonidos focalizados a través de una malla hidrófoba. Es sistema es capaz de manejar un gran número de gotas (> 40µL), y capaz de fusionarlas/dividirlas o propulsarlas verticalmente, este sistema mejora significativamente los sistemas EWOD ya existentes generando una menor contaminación superficial. Esta tesis presenta estos logros y sus trabajos relacionados, modelos, metodologías, procedimientos y conclusiones. Espero que estos trabajos supongan un avance significativo en la investigación de los campos acústicos y puedan inspirar y facilitar futuras aplicaciones novedosas de los hologramas acústicos por parte de las personas investigadoras en diversos ámbitos del mundo académico y de la industria.
Open Access
Microfluidic platform using focused ultrasound passing through hydrophobic meshes with jump availability
(Oxford University Press, 2023) Koroyasu, Yusuke; Nguyen, Thanh-Vinh; Sasaguri, Shun; Marzo Pérez, Asier; Ezcurdia Aguirre, Íñigo Fermín; Nagata, Yuuya; Yamamoto, Tatsuya; Nomura, Nobuhiko; Hoshi, Takayuki; Ochiai, Yoichi; Fushimi, Tatsuki; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Institute of Smart Cities - ISC
Applications in chemistry, biology, medicine, and engineering require the large-scale manipulation of a wide range of chemicals, samples, and specimens. To achieve maximum efficiency, parallel control of microlitre droplets using automated techniques is essential. Electrowetting-on-dielectric (EWOD), which manipulates droplets using the imbalance of wetting on a substrate, is the most widely employed method. However, EWOD is limited in its capability to make droplets detach from the substrate (jumping), which hinders throughput and device integration. Here, we propose a novel microfluidic system based on focused ultrasound passing through a hydrophobic mesh with droplets resting on top. A phased array dynamically creates foci to manipulate droplets of up to 300 mu L. This platform offers a jump height of up to 10 cm, a 27-fold improvement over conventional EWOD systems. In addition, droplets can be merged or split by pushing them against a hydrophobic knife. We demonstrate Suzuki-Miyaura cross-coupling using our platform, showing its potential for a wide range of chemical experiments. Biofouling in our system was lower than in conventional EWOD, demonstrating its high suitability for biological experiments. Focused ultrasound allows the manipulation of both solid and liquid targets. Our platform provides a foundation for the advancement of micro-robotics, additive manufacturing, and laboratory automation.
Open Access
Hand-as-a-prop: using the hand as a haptic proxy for manipulation in virtual reality
(Springer, 2023) Marichalar Baraibar, Sebastian Roberto; Ezcurdia Aguirre, Íñigo Fermín; Morales González, Rafael; Ortiz Nicolás, Amalia; Marzo Pérez, Asier; Ardaiz Villanueva, Óscar; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Institute of Smart Cities - ISC; Universidad Pública de Navarra / Nafarroako Unibertsitate Publikoa
Haptic feedback can be almost as important as visual information in virtual reality environments. On the one hand, in Active Haptic Feedback, specialized devices such as vibrotactile gloves are employed; however, these solutions can be expensive, vendor-specific or cumbersome to setup. On the other hand, Passive Haptic Feedback approaches use inexpensive objects as proxies for the virtual entities; but mapping virtual objects to real props is not scalable nor flexible. We propose the Hand-as-a-Prop technique, which consists in using human hands as object props. We implemented two modalities: Self, where the user¿s non-dominant hand act as the virtual object while the dominant hand grabs, translates and releases it; and External, where the hand of another person is used. Hand-as-a-Prop can represent multiple shapes with a single prop and does not require extra hardware. We performed an evaluation comparing both Self and External Hand-as-a-Prop with traditional Object Props in terms of user experience (goodness, ease, realism, fatigue, and preference) and performance (task completion time and translation time). Results showed that Hand-as-a-Prop was rated as neutral tending to positive, and in some cases, the performance was similar to Object Props. Users preferred Self Hand-as-a-Prop over External Hand-as-a-Prop and also obtained better results.
Open Access
Mid-air contactless haptics to augment VR experiences
(Association for Computing Machinery, 2023) Ezcurdia Aguirre, Íñigo Fermín; Fernández Ortega, Unai Javier; Olaz Moratinos, Xabier; Marzo Pérez, Asier; Estadística, Informática y Matemáticas; Estatistika, Informatika eta Matematika; Institute of Smart Cities - ISC
We present four technologies to deliver contactless haptic stimuli for enriching Virtual Reality (VR) experiences. The technologies are electrostatic piloerection, focused light-induced heat, electric plasma, and ultrasound; the user does not require to wear or touch any device. We describe the working principle behind each technology and how these technologies can provide new exciting sensations in VR experiences. Additionally, we showcase a VR demo experience gathering all four remote haptic stimuli along a circuit for the users to experiment with these new sensations.