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.

翻译：本文提出FluxLab系统，该集成交互式工具用于创建具有集成形变感知功能的定制化三维可打印形状变化装置。为实现这一目标，我们提出一种三维可打印嵌套结构：其中心为用于传感与驱动的形状记忆合金通道，中层采用基于晶格的填充结构以提供力学支撑与可控弹性，外层为平行螺旋式表面导线，用于维持整体形态并为导向形变提供锚定支柱。我们开发了设计编辑器，可将这些结构嵌入定制三维模型，通过消费级光固化三维打印机使用弹性硅树脂进行打印，且仅需极少后处理组装步骤。同时开发了形变编辑工具，使用户能够构建基于机器学习的分类器，通过电感传感技术识别目标形变行为。最后，我们通过示例应用展示本系统的潜力，包括自形变蒸碗夹、远程可控抓取器和交互式台灯。