FluxLab: Creating 3D Printable Shape-Changing Devices with Integrated Deformation Sensing

We present FluxLab, a system comprising interactive tools for creating custom 3D-printable shape-changing devices with integrated deformation sensing. To achieve this, we propose a 3D printable nesting structure, consisting of a central SMA channel for sensing and actuation, lattice-based padding in the middle for structural support and controllable elasticity, and parallel helix-based surface wires that preserve the overall form and provide anchoring struts for guided deformation. We developed a design editor to embed these structures into custom 3D models for printing with elastic silicone resin on a consumer-grade SLA 3D printer and minimal post-printing assembly. A deformation authoring tool was also developed for users to build a machine learning-based classifier that distinguishes desired deformation behaviors using inductive sensing. Finally, we demonstrate the potential of our system through example applications, including a self-deformable steamer bowl clip, a remotely controllable gripper, and an interactive desk lamp.