Abstract
Haptic feedback is appealing for achieving the realistic perception of environmental changes for human bodies in human–computer interaction fields. However, existing haptic actuators have some hurdles such as single mode, poor compatibility, or incomplete tactile information. In this study, we proposed a novel way to generate haptic feedback by designing a soft electro-hydraulic pneumatic actuator (SEHPA) with dual drive modes. The SEHPA was structured with silicone films, a silicone air chamber, flexible electrodes, and an insulating liquid dielectric for good human–machine compatibility. The SEHPA had the advantages of high output force (1.5 N at 10 kPa) and displacement (4.5 mm at 5 kPa), as well as various haptic notifications (0~400 Hz vibration). The electro-hydraulic drive method realized smooth output force changes at the millinewton level (0~40 mN) and output displacement changes at the micron level (0~800 μm), which further enriched the details of the tactile experience. In addition, the self-sensing capability of the SEHPA can be dedicated to monitoring and ensuring precise output. The SEHPAs can be potentially mounted on the fingertips to provide accurate tactile sensation once the manipulator touches an object through teleoperation. More invisible information can also be obtained by customizing various haptic notifications. The excellent response behavior and accurate tactile haptic feedback demonstrate the candidate for teleoperation fields.
Highlights
Tactile sensation plays a very important role in feeling subtle changes in the environment
Smart soft materials and structures play an important role in the design and practical application of flexible micro-drive structures, and their special drive mechanism greatly expands the functions of flexible micro-drive structures [7–14]
Our work provides a new understanding in transmitting information that cannot be sensed by primitive touch, which will be beneficial to the fields of human–computer interaction and teleoperation
Summary
Haoyu Wang 1,2,† , Xiang Cheng 2,† , Pei Huang 2,3 , Meng Yu 2,4 , Jiaqi Ma 1 , Shigang Peng 2 , Yue Cheng 1 , Yuan Yu 1 , Weimin Yang 1 , Pengfei Wang 2, * and Zhiwei Jiao 1, *.
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