Fluxable: A Tool for Making 3D Printable Sensors and Actuators

We present Fluxable, a tool for making custom sensors and actuators 3D printable with customer-grade Stereolithography (SLA) 3D printers. With this tool, the user converts an arbitrary 3D model into a deformable body with integrated helix-and-lattice structures, which comprise a hollow helical channel in the center, lattice paddings, and a wireframe structure on the surface. The tool allows for the parameterization of the helix for sensing performance and customization of the lattice for actuation. By inserting a conductive shape-memory alloy (SMA) into a printed object through the helical channel, the converted shape becomes a sensor to detect various shape-changing behaviors using inductive sensing or an actuator to trigger movements through temperature control. We demonstrated our tool with a series of example sensors and actuators, including an interactive timer, a DJ station, and a caterpillar robot.