Electro-Active Polymer Based Soft Tactile Interface for Wearable Devices

A Lightweight and Affordable Wearable Haptic Controller for Robot-Assisted Microsurgery

In robot-assisted microsurgery (RAMS), surgeons often face the challenge of operating with minimal feedback, particularly lacking in haptic feedback. However, most traditional desktop haptic devices have restricted operational areas and limited dexterity. This report describes a novel, lightweight, and low-budget wearable haptic controller for teleoperated microsurgical robotic systems. We designed a wearable haptic interface entirely made using off-the-shelf material-PolyJet Photopolymer, fabricated using liquid and solid hybrid 3D co-printing technology. This interface was designed to resemble human soft tissues and can be wrapped around the fingertips, offering direct contact feedback to the operator. We also demonstrated that the device can be easily integrated with our motion tracking system for remote microsurgery. Two motion tracking methods, marker-based and marker-less, were compared in trajectory-tracking experiments at different depths to find the most effective motion tracking method for our RAMS system. The results indicate that within the 4 to 8 cm tracking range, the marker-based method achieved exceptional detection rates. Furthermore, the performance of three fusion algorithms was compared to establish the unscented Kalman filter as the most accurate and reliable. The effectiveness of the wearable haptic controller was evaluated through user studies focusing on the usefulness of haptic feedback. The results revealed that haptic feedback significantly enhances depth perception for operators during teleoperated RAMS.

Self-indicating polymers: a pathway to intelligent materials

Self-indicating polymers have emerged as a promising class of smart materials that possess the unique ability to undergo detectable variations in their physical or chemical properties in response to various stimuli. This article presents an overview of the most important mechanisms through which these materials exhibit self-indication, including aggregation, phase transition, covalent and non-covalent bond cleavage, isomerization, charge transfer, and energy transfer. Aggregation is a prevalent mechanism observed in self-indicating polymers, where changes in the degree of molecular organization result in variations in optical or electrical properties. Phase transition-induced self-indication relies on the transformation between different phases, such as liquid-to-solid or crystalline-to-amorphous transitions, leading to observable changes in color or conductivity. Covalent bond cleavage-based self-indicating polymers undergo controlled degradation or fragmentation upon exposure to specific triggers, resulting in noticeable variations in their structural or mechanical properties. Isomerization is another crucial mechanism exploited in self-indicating polymers, where the reversible transformation between the different isomeric forms induces detectable changes in fluorescence or absorption spectra. Charge transfer-based self-indicating polymers rely on the modulation of electron or hole transfer within the polymer backbone, manifesting as changes in electrical conductivity or redox properties. Energy transfer is an essential mechanism utilized by certain self-indicating polymers, where energy transfer between chromophores or fluorophores leads to variations in the emission characteristics. Furthermore, this review article highlights the diverse range of applications for self-indicating polymers. These materials find particular use in sensing and monitoring applications, where their responsive nature enables them to act as sensors for specific analytes, environmental parameters, or mechanical stress. Self-indicating polymers have also been used in the development of smart materials, including stimuli-responsive coatings, drug delivery systems, food sensors, wearable devices, and molecular switches. The unique combination of tunable properties and responsiveness makes self-indicating polymers highly promising for future advancements in the fields of biotechnology, materials science, and electronics.

Haptic Sensing and Feedback Techniques toward Virtual Reality

Haptic interactions between human and machines are essential for information acquisition and object manipulation. In virtual reality (VR) system, the haptic sensing device can gather information to construct virtual elements, while the haptic feedback part can transfer feedbacks to human with virtual tactile sensation. Therefore, exploring high-performance haptic sensing and feedback interface imparts closed-loop haptic interaction to VR system. This review summarizes state-of-the-art VR-related haptic sensing and feedback techniques based on the hardware parts. For the haptic sensor, we focus on mechanism scope (piezoresistive, capacitive, piezoelectric, and triboelectric) and introduce force sensor, gesture translation, and touch identification in the functional view. In terms of the haptic feedbacks, methodologies including mechanical, electrical, and elastic actuators are surveyed. In addition, the interactive application of virtual control, immersive entertainment, and medical rehabilitation is also summarized. The challenges of virtual haptic interactions are given including the accuracy, durability, and technical conflicts of the sensing devices, bottlenecks of various feedbacks, as well as the closed-loop interaction system. Besides, the prospects are outlined in artificial intelligence of things, wise information technology of medicine, and multimedia VR areas.

Soft Sensors and Actuators for Wearable Human-Machine Interfaces

Haptic human-machine interfaces (HHMIs) combine tactile sensation and haptic feedback to allow humans to interact closely with machines and robots, providing immersive experiences and convenient lifestyles. Significant progress has been made in developing wearable sensors that accurately detect physical and electrophysiological stimuli with improved softness, functionality, reliability, and selectivity. In addition, soft actuating systems have been developed to provide high-quality haptic feedback by precisely controlling force, displacement, frequency, and spatial resolution. In this Review, we discuss the latest technological advances of soft sensors and actuators for the demonstration of wearable HHMIs. We particularly focus on highlighting material and structural approaches that enable desired sensing and feedback properties necessary for effective wearable HHMIs. Furthermore, promising practical applications of current HHMI technology in various areas such as the metaverse, robotics, and user-interactive devices are discussed in detail. Finally, this Review further concludes by discussing the outlook for next-generation HHMI technology.

Faster Indentation Influences Skin Deformation To Reduce Tactile Discriminability of Compliant Objects

To discriminate the compliance of soft objects, we rely upon spatiotemporal cues in the mechanical deformation of the skin. However, we have few direct observations of skin deformation over time, in particular how its response differs with indentation velocities and depths, and thereby helps inform our perceptual judgments. To help fill this gap, we develop a 3D stereo imaging method to observe contact of the skin's surface with transparent, compliant stimuli. Experiments with human-subjects, in passive touch, are conducted with stimuli varying in compliance, indentation depth, velocity, and time duration. The results indicate that contact durations greater than 0.4 s are perceptually discriminable. Moreover, compliant pairs delivered at higher velocities are more difficult to discriminate because they induce smaller differences in deformation. In a detailed quantification of the skin's surface deformation, we find that several, independent cues aid perception. In particular, the rate of change of gross contact area best correlates with discriminability, across indentation velocities and compliances. However, cues associated with skin surface curvature and bulk force are also predictive, for stimuli more and less compliant than skin, respectively. These findings and detailed measurements seek to inform the design of haptic interfaces.

Fabrication of practical deformable displays: advances and challenges

Display form factors such as size and shape have been conventionally determined in consideration of usability and portability. The recent trends requiring wearability and convergence of various smart devices demand innovations in display form factors to realize deformability and large screens. Expandable displays that are foldable, multi-foldable, slidable, or rollable have been commercialized or on the edge of product launches. Beyond such two-dimensional (2D) expansion of displays, efforts have been made to develop three dimensional (3D) free-form displays that can be stretched and crumpled for use in realistic tactile sensation, artificial skin for robots, and on-skin or implantable displays. This review article analyzes the current state of the 2D and 3D deformable displays and discusses the technological challenges to be achieved for industrial commercialization.

Design of a Fuel Explosion-Based Chameleon-Like Soft Robot Aided by the Comprehensive Dynamic Model

Soft robotics have advantages over the traditional rigid ones to achieve the bending motion but face with challenges to realize the rapid and long-distance linear motion due to the lack of a suitable actuation system. In this paper, a new explosion-based soft robot is proposed to generate the axial fast extension by the explosion pressure. To support and predict the performance of this explosion-based soft robot, a novel dynamic model is developed by considering the change of working fluid (molecular numbers) and some unavoidable and influential factors in the combustion process. Then, based on the physical prototype, a set of experiments is conducted to test the performance of the explosion-based soft robot in performing the axial extensions, as well as to validate the model proposed in this article. It is found that the novel explosion-based soft robot can achieve rapid axial extension by the developed explosion-based actuation system. The explosion-based soft robot can achieve 41-mm displacement at a fuel mass of 180 mg. In addition, the proposed dynamic model can be validated with an average error of 1.5%. The proposed approach in this study provides a promising solution for future high-power density explosion-based soft robots.

Optically addressable dielectric elastomer actuator arrays using embedded percolative networks of zinc oxide nanowires

Dielectric elastomer actuators (DEAs) are electrically driven soft actuators that generate fast and reversible deformations, enabling lightweight actuation of many novel soft robots and haptic devices. However, the high-voltage operation of DEAs combined with the paucity of soft, small high-voltage microelectronics has limited the number of discrete DEAs that can be incorporated into soft robots. This has hindered the versatility as well as complexity of the tasks that they can perform which, in practice, depends on the number of independently addressable actuating elements. This paper presents a new class of optically addressable dielectric elastomer actuators that utilize the photoconductivity of semiconducting zinc oxide nanowires to create optically switchable and stretchable electrical channels. This enables non-contact, optical control of local actuation. To illustrate the versatility of the new capabilities of this integration, we describe the response of dielectric elastomer actuators with integrated photoconductive channels, formed from thin films of percolating semiconducting nanoparticles. By using a switchable array of small light emitting diodes to optically address the actuator array, its actuation can be controlled both spatially and temporally.

A new 3D, microfluidic-oriented, multi-functional, and highly stretchable soft wearable sensor

Increasing demand for wearable devices has resulted in the development of soft sensors; however, an excellent soft sensor for measuring stretch, twist, and pressure simultaneously has not been proposed yet. This paper presents a novel, fully 3D, microfluidic-oriented, gel-based, and highly stretchable resistive soft sensor. The proposed sensor is multi-functional and could be used to measure stretch, twist, and pressure, which is the potential of using a fully 3D structure in the sensor. Unlike previous methods, in which almost all of them used EGaIn as the conductive material, in this case, we used a low-cost, safe (biocompatible), and ubiquitous conductive gel instead. To show the functionality of the proposed sensor, FEM simulations and a set of designed experiments were done, which show linear (99%), accurate (> 94.9%), and durable (tested for a whole of four hours) response of the proposed sensor. Then, the sensor was put through its paces on a female test subject's knee, elbow, and wrist to show the potential application of the sensor as a body motion sensor. Also, a fully 3D active foot insole was developed, fabricated, and evaluated to evaluate the pressure functionality of the sensor. The result shows good discrimination and pressure measurement for different foot sole areas. The proposed sensor has the potential to be used in real-world applications like rehabilitation, wearable devices, soft robotics, smart clothing, gait analysis, AR/VR, etc.

Effect of the Particle Size and Layer Thickness of GNP Fillers on the Dielectric Properties and Actuated Strain of GNP-PDMS Composites

Dielectric elastomer actuators (DEAs), a type of electroactive polymers (EAPs), are smart materials that are used in various fields such as artificial muscles and biomimetic robots. In this study, graphene nanoplatelets (GNPs), which are conductive carbon fillers, were added to a widely used DEA, namely, polydimethylsiloxane (PDMS), to improve its low actuated strain. Four grades of GNPs were used: H5, H25, M5, and M25 (here, the number following the letter indicates the average particle size of the GNPs in μm). The average layer thickness of the H grade is 13−14 nm and that of the M grade is 5−7 nm. PDMS composites were prepared by adding 0.5, 1, 2, and 3 wt% of each GNP, following which the mechanical properties, dielectric properties, and actuated strain of the composites were measured. The mechanical properties were found to increase as the particle size increased. Regarding the dielectric characteristics, it was found that the higher the aspect ratio of the filler, the easier the formation of a micro-capacitor network in the composite—this led to an increase in the dielectric constant. In addition, the higher amounts of GNPs in the composites also led to an increase in the dielectric constant. For the actuated strain analysis, the electromechanical sensitivity was calculated using the ratio of the dielectric constant to the Young’s modulus, which is proportional to the strain. However, it was found that when the loss tangent was high, the performance of the actuated strain decreased owing to the conversion of electric energy into thermal energy and leakage current loss. As a result, the highest actuated strain was exhibited by the M25 composite, with an actuated strain value of 3.01% measured at a low electric field (<4 kV/mm). In conclusion, we proved that the GNP−PDMS composites with a thin layer and large particle size exhibited high deformation.

Engineering Liquid-Vapor Phase Transition for Refreshable Haptic Interfaces

Haptics as a communication medium has been increasingly emphasized across various disciplines. Recent efforts have focused on developing various haptic stimulation technologies; however, most of them suffer from critical drawbacks stemming from their bulk, complexity, large power input, or high cost. Here, we describe a strategy to design portable and affordable refreshable haptic interfaces composed of an array of individually addressable and controllable liquid pouch motor-based haptic units embedded in either rigid or flexible substrates for different application contexts. The pouch motor filled with low boiling fluid, under a controlled manner, expands or contracts by Joule heating or cooling, enabling the haptic pin in contact to be protruded or retracted. Programming the actuation sequence of an array of haptic units enables the haptic interface to apply different stimuli to the skin to convey corresponding information. We finally demonstrate the applications to portable rigid braille displays and flexible epidermal VR devices. This study opens the avenue to the design of ubiquitous refreshable haptic interfaces that is portable, affordable, scalable, and uninjurious.

Flexible Electronics and Devices as Human-Machine Interfaces for Medical Robotics

Medical robots are invaluable players in non-pharmaceutical treatment of disabilities. Particularly, using prosthetic and rehabilitation devices with human-machine interfaces can greatly improve the quality of life for impaired patients. In recent years, flexible electronic interfaces and soft robotics have attracted tremendous attention in this field due to their high biocompatibility, functionality, conformability, and low-cost. Flexible human-machine interfaces on soft robotics will make a promising alternative to conventional rigid devices, which can potentially revolutionize the paradigm and future direction of medical robotics in terms of rehabilitation feedback and user experience. In this review, the fundamental components of the materials, structures, and mechanisms in flexible human-machine interfaces are summarized by recent and renowned applications in five primary areas: physical and chemical sensing, physiological recording, information processing and communication, soft robotic actuation, and feedback stimulation. This review further concludes by discussing the outlook and current challenges of these technologies as a human-machine interface in medical robotics.

A low voltage-powered soft electromechanical stimulation patch for haptics feedback in human-machine interfaces

One grand challenge in haptic human-machine interface devices is to electromechanically stimulate sensations on the human skin wirelessly by thin and soft patches under a low driving voltage. Here, we propose a soft haptics-feedback system using highly charged, polymeric electret films with an annulus-shape bump structure to induce mechanical sensations on the fingertip of volunteers under an applied voltage range of 5-20 V. As an application demonstration, a 3 × 3 actuators array is used for transmitting patterned haptic information, such as letters of 'T', 'H', 'U' letters and numbers of '0', '1', '2'. Moreover, together with flexible lithium batteries and a flexible circuit board, an untethered stimulation patch is constructed for operations of 1 h. The analytical model, design principle, and performance characterizations can be applicable for the integration of other wearable electronics toward practical applications in the fields of AR (augmented reality), VR (virtual reality) and robotics.

A Light-Driven Vibrotactile Actuator with a Polymer Bimorph Film for Localized Haptic Rendering

A vibrotactile actuator driven by light energy is developed to produce dynamic stimulations for haptic rendering on a thin-film structure. The actuator is constructed by adopting a thermal bimorph membrane structure of poly(3,4-ethylenedioxythiophene) doped with p-toluenesulfonate (PEDOT-Tos) coated onto a polyethylene terephthalate (PET) film. Upon irradiation of near-infrared (NIR) light, the light energy absorbed at the PEDOT-Tos layer is converted into thermoelastic bending deformation due to the mismatch in coefficient of thermal expansion between PEDOT-Tos and PET. Since the light-induced deformation is reversible, spatially localized, and rapidly controllable with designed light signals, the proposed actuator can produce vibrotactile stimulation over 10 dB at arbitrary areas in the human-sensitive frequency range from 125 to 300 Hz using a low input power of ∼2.6 mW mm^-2, as compared with a complex electrical circuit and high input power needed to achieve such actuation performance. Together with its simple structure based on light-driven actuation, the advent of this actuator could open up new ways to achieve substantial advances in rendering textures at a flexible touch interface.

Tactile display of softness on fingertip

Multi-sensory human-machine interfaces are currently challenged by the lack of effective, comfortable and affordable actuation technologies for wearable tactile displays of softness in virtual- or augmented-reality environments. They should provide fingertips with tactile feedback mimicking the tactual feeling perceived while touching soft objects, for applications like virtual reality-based training, tele-rehabilitation, tele-manipulation, tele-presence, etc. Displaying a virtual softness on a fingertip requires the application of quasi-static (non-vibratory) forces via a deformable surface, to control both the contact area and the indentation depth of the skin. The state of the art does not offer wearable devices that can combine simple structure, low weight, low size and electrically safe operation. As a result, wearable softness displays are still missing for real-life uses. Here, we present a technology based on fingertip-mounted small deformable chambers, which weight about 3 g and are pneumatically driven by a compact and cost-effective unit. Weighting less than 400 g, the driving unit is easily portable and can be digitally controlled to stimulate up to three fingertips independently. Psychophysical tests proved ability to generate useful perceptions, with a Just Noticeable Difference characterised by a Weber constant of 0.15. The system was made of off-the-shelf materials and components, without any special manufacturing process, and is fully disclosed, providing schematics and lists of components. This was aimed at making it easily and freely usable, so as to turn tactile displays of softness on fingertips into a technology 'at fingertips'.

Dielectric Elastomers UV-Cured from Poly(dimethylsiloxane) Solution in Vinyl Acetate

Poly(dimethylsiloxane) (PDMS) has been extensively used as an electroactive polymer material because it exhibits not only excellent moldability but also mechanical properties sufficient enough for electroactive performance despite low dielectric permittivity. Its low dielectric property is due to its molecular non-polarity. Here, we introduce a polar group into a PDMS elastomer by using vinyl acetate (VAc) as a crosslinker to improve the dielectric permittivity. We synthesized a high-molecular weight PDMS copolymer containing vinyl groups, namely poly(dimethylsiloxane-co-methylvinylsiloxane) (VPDMS), and prepared several of the VPDMS solutions in VAc. We obtained transparent PDMS films by UV curing of the solution layers. Electromechanical actuation-related physical properties of one of the UV-cured films were almost equivalent to or superior to those of platinum-catalyzed hydrosilylation-cured PDMS films. In addition, saponification of the UV-cured film significantly improved the electrical and mechanical properties (ɛ′ ~ 44.1 pF/m at 10 kHz, E ~ 350 kPa, ɛ ~ 320%). The chemical introduction of VAc into PDMS main chains followed by saponification would offer an efficacious method of enhancing the electroactive properties of PDMS elastomers.

Multimode Hydraulically Amplified Electrostatic Actuators for Wearable Haptics

The sense of touch is underused in today's virtual reality systems due to lack of wearable, soft, mm-scale transducers to generate dynamic mechanical stimulus on the skin. Extremely thin actuators combining both high force and large displacement are a long-standing challenge in soft actuators. Sub-mm thick flexible hydraulically amplified electrostatic actuators are reported here, capable of both out-of-plane and in-plane motion, providing normal and shear forces to the user's fingertip, hand, or arm. Each actuator consists of a fluid-filled cavity whose shell is made of a metalized polyester boundary and a central elastomer region. When a voltage is applied to the annular electrodes, the fluid is rapidly forced into the stretchable region, forming a raised bump. A 6 mm × 6 mm × 0.8 mm actuator weighs 90 mg, and generates forces of over 300 mN, out-of-plane displacements of 500 µm (over 60% strain), and lateral motion of 760 µm. Response time is below 5 ms, for a specific power of 100 W kg^-1 . In user tests, human subjects distinguished normal and different 2-axis shear forces with over 80% accuracy. A flexible 5 × 5 array is demonstrated, integrated in a haptic sleeve.

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft actuators which have recently been considered as a key power generation component for soft robots. This paper begins with the introduction of the working principle of the dielectric elastomer actuators. Because the operation of DEA includes the physics of both mechanical viscoelastic properties and dielectric characteristics, we describe theoretical modeling methods for the DEA before introducing applications. In addition, the design of artificial muscles based on DEA is also introduced. This paper reviews four popular subjects for the application of DEA: soft robot hand, locomotion robots, wearable devices, and tunable optical components. Other potential applications and challenging issues are described in the conclusion.

Facile Functionalization of Poly(Dimethylsiloxane) Elastomer by Varying Content of Hydridosilyl Groups in a Crosslinker

Crosslinked poly(dimethylsiloxane) (PDMS) has been widely used as a dielectric elastomer for electrically driven actuators because it exhibits high elasticity, low initial modulus, and excellent moldability in spite of low dielectric constant. However, further improvement in the characteristics of the PDMS elastomer is not easy due to its chemical non-reactivity. Here, we report a simple method for functionalizing the elastomer by varying content of hydridosilyl groups in PDMS acted as a crosslinker. We synthesized poly(dimethylsiloxane-co-methylvinylsiloxane) (VPDMS) and poly(dimethylsiloxane-co-methylsiloxane) (HPDMS). Tri(ethylene glycol) divinyl ether (TEGDE) as a polar molecule was added to the mixture of VPDMS and HPDMS. TEGDE was reacted to the hydridosilyl group in HPDMS during crosslinking between VPDMS and HPDMS in the presence of platinum as a catalyst. Permittivity of the crosslinked film increased from ca. 25 to 36 pF/m at 10 kHz without a decline in other physical properties such as transparency and elasticity (T > 85%, E ~150 kPa, ɛ ~270%). It depends on the hydridosilyl group content of HPDMS. The chemical introduction of a new molecule into the hydridosilyl group in HPDMS during crosslinking would provide a facile, effective method of modifying the PDMS elastomers.

Transparent Film-Type Vibrotactile Actuator Array and Its Haptic Rendering Using Beat Phenomenon

The most important thing in a thin and soft haptic module with an electroactive polymer actuator array is to increase its vibrotactile amplitude and to create a variety of vibrotactile sensations. In this paper, we introduce a thin film-type electroactive polymer actuator array capable of stimulating two types of human mechanoreceptors simultaneously, and we present a haptic rendering method that maximizes the actuators’ vibrational force without improving the array’s haptic performance. The increase in vibrational amplitude of the soft electroactive polymer actuator array is achieved by creating a beat vibration, which is an interference pattern of two vibrations with slightly different frequencies. The textures of a target object are translated into haptic stimuli using the proposed method. We conducted qualitative and quantitative experiments to evaluate the performance of the proposed rendering method. The results showed that this method not only amplifies the vibration’s amplitude but also haptically simulates various objects’ surfaces.

Pneumatic actuator and flexible piezoelectric sensor for soft virtual reality glove system

The desire to directly touch and experience virtual objects led to the development of a tactile feedback device. In this paper, a novel soft pneumatic actuator for providing tactile feedback is proposed and demonstrated. The suggested pneumatic actuator does not use an external air compressor but it is operated by internal air pressure generated by an electrostatic force. By using the actuator, we designed a glove to interact with virtual reality. The finger motions are detected by attached flexible piezoelectric sensors and transmitted to a virtual space through Bluetooth for interconnecting with a virtual hand. When the virtual finger touches the virtual object, the actuators are activated and give the tactile feedback to the real fingertip. The glove is made of silicone rubber material and integrated with the sensors and actuators such that users can wear them conveniently with light weight. This device was tested in a virtual chess board program, wherein the user picked up virtual chess pieces successfully.

Miniaturised acoustofluidic tactile haptic actuator

Tactile haptic feedback is an important consideration in the design of advanced human-machine interfaces, particularly in an age of increasing reliance on automation and artificial intelligence. In this work, we show that the typical nanometer-order surface displacement amplitudes of piezoelectric transducers-which are too small to be detectable by the human touch, and constitute a significant constraint in their use for tactile haptic surface actuation-can be circumvented by coupling the vibration into a liquid to drive the deflection of a thermoplastic membrane. In particular, transmission of the sound energy from the standing wave vibration generated along a piezoelectric transducer into a microfluidic chamber atop which the membrane is attached is observed to amplify the mechanical vibration signalling through both the acoustic radiation pressure and the viscous normal stress acting on the membrane-the latter arising due to the acoustic streaming generated as the sound wave propagates through the liquid-to produce 100 μm-order static deflections of the membrane, upon which approximately 0.5 μm dynamic vibrations at frequencies around 1 kHz are superimposed; both these static and dynamic responses are within the perception range for human finger sensation. The large static deformation, the relatively fast response time, and the ability to incorporate a dynamic vibrotactile response together with the small size and potential for integration of the device into large scale arrays make this mechanism well suited for driving actuation in devices which require tactile haptic responses.