Digital Clay is a novel fluid-driven device for shape input/output that potentially has wide application in the areas of engineering, sciences, medicine, military, entertainment etc. Shape display is achieved with the current 5×5 prototype but this research seeks to expand its haptic capability with force feedback, but the absence of pressure/force sensors requires finger force estimation. In this paper, a velocity estimator and a mathematical model are derived for the design of a force observer. A brief overview of the current 5×5 prototype at the Georgia Institute of Technology and a new concept for shape editing are also given.

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