Abstract
Gaining direct tactile sensation is becoming increasingly important for humans in human–computer interaction fields such as space robot teleoperation and augmented reality (AR). In this study, a novel electro-hydraulic soft actuator was designed and manufactured. The proposed actuator is composed of polydimethylsiloxane (PDMS) films, flexible electrodes, and an insulating liquid dielectric. The influence of two different voltage loading methods on the output characteristics of the actuator was studied. The special voltage loading method (AC voltage) enables the actuator to respond rapidly (within 0.15 s), output a stable displacement in 3 s, and remain unchanged in the subsequent time. By adjusting the voltages and frequencies, a maximum output displacement of 1.1 mm and an output force of 1 N/cm2 can be rapidly achieved at a voltage of 12 kV (20 Hz). Finally, a haptic feedback system was built to control the robotic hand to perform gripping tasks in real time, and a more realistic tactile sensation could be realized, similar to that obtained when a human directly grabs objects. Therefore, the actuator has excellent portability, robustness, rapid response, and good compatibility with the human body for human–computer interaction.
Highlights
As an important way for humans to perceive the outside world, tactile sensation is essential to perform many precision operations in daily life, and it is increasingly applied in human–computer interaction devices [1] to enhance the sense of reality and immersion
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It was placed in a vacuum desiccator for min to discharge the gas
Summary
As an important way for humans to perceive the outside world, tactile sensation is essential to perform many precision operations in daily life, and it is increasingly applied in human–computer interaction devices [1] to enhance the sense of reality and immersion. Traditional haptic feedback devices are mainly composed of rigid structures [2,3], which provide force feedback to the operators through a steering gear [4,5]. These devices are usually bulky, not portable, and have poor compatibility with the human body. To overcome these shortcomings, an increasing number of haptic feedback actuators made of soft materials [6,7,8] have been created in recent years
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