TactStyle: Generating Tactile Textures with Generative AI for Digital Fabrication

Recent work in Generative AI enables the stylization of 3D models based on image prompts. However, these methods do not incorporate tactile information, leading to designs that lack the expected tactile properties. We present TactStyle, a system that allows creators to stylize 3D models with images while incorporating the expected tactile properties. TactStyle accomplishes this using a modified image-generation model fine-tuned to generate heightfields for given surface textures. By optimizing 3D model surfaces to embody a generated texture, TactStyle creates models that match the desired style and replicate the tactile experience. We utilize a large-scale dataset of textures to train our texture generation model. In a psychophysical experiment, we evaluate the tactile qualities of a set of 3D-printed original textures and TactStyle's generated textures. Our results show that TactStyle successfully generates a wide range of tactile features from a single image input, enabling a novel approach to haptic design.

Soft Lattice Modules that Behave Independently and Collectively

Natural systems integrate the work of many sub-units (cells) toward a large-scale unified goal (morphological and behavioral), which can counteract the effects of unexpected experiences, damage, or simply changes in tasks demands. In this paper, we exploit the opportunities presented by soft, modular, and tensegrity robots to introduce soft lattice modules that parallel the sub-units seen in biological systems. The soft lattice modules are comprised of 3D printed plastic "skeletons", linear contracting shape memory alloy spring actuators, and permanent magnets that enable adhesion between modules. The soft lattice modules are capable of independent locomotion, and can also join with other modules to achieve collective, self-assembled, larger scale tasks such as collective locomotion and moving an object across the surface of the lattice assembly. This work represents a preliminary step toward soft modular systems capable of independent and collective behaviors, and provide a platform for future studies on distributed control.