Multimodal 5-DOF Stretchable Electromagnetic Actuators Toward Haptic Information Delivery

The rapid advancements in artificial intelligence, particularly in the domains of robotics, prosthetics, and virtual and augmented reality (VR/AR), have driven an escalating demand for intuitive and effective human-machine interactions. Consequently, haptic devices, being electronic displays for the sense of touch, have drawn increasing attention. More efforts are in demand to develop stretchable and lightweight haptic devices that can trigger multiple mechanical cutaneous receptors using a single device. This work presents a new 3-modal 5-DOF stretchable haptic interface that is enabled by electromagnetic actuators and high-fidelity multi-layer metal printing. The haptic device renders rich haptic sensations (i.e., normal force, vibration, angular force, skin dragging) in one device, allowing for the comprehensive delivery of tactile information through the excitation of multiple cutaneous receptors. Additionally, haptic devices are designed to be compact, lightweight, and skin-compatible. The skin-like softness and stretchability enable intimate skin contact, which is crucial for efficient haptic information delivery. In addition, this feature prevents impediments to the natural movements of the skin and ensures the functional integrity of the device during daily deformations of the skin. Finally, three proof-of-concept demonstrations illustrate the potential of the reported multimodal haptic devices for advanced haptic interactions across various domains.