Volflex is a volumetric haptic display. It is composed of a group of air balloons controlled by computer-controlled air cylinders. Each air cylinder is equipped with a pressure sensor that detects force applied by the user. Deformation occurs according with hardness of the virtual clay.
Hiroo Iwata, Hiroaki Yano, and Naoto Ono. 2005. Volflex. In ACM SIGGRAPH 2005 Emerging technologies (SIGGRAPH ’05), Donna Cox (Ed.). ACM, New York, NY, USA, , Article 31 . DOI=http://dx.doi.org/10.1145/1187297.1187329
Virtual Reality Lab, University of Tsukuba